CN113940612A - Magnetic control system of capsule endoscope with guide rail and magnetic control method thereof - Google Patents

Abstract

The present disclosure provides a magnetic control system of a capsule endoscope with a guide rail, which includes the capsule endoscope, the guide rail part and a magnetic control device. Wherein the capsule endoscope is provided with a built-in magnet and can be placed in a tissue cavity of a subject; the guide rail part is provided with a guide rail; the magnetic control device is movably arranged on the guide rail and comprises an external magnet, the external magnet is rotatably arranged on the magnetic control device, and the external magnet generates a magnetic force effect on the internal magnet of the capsule endoscope. According to the present disclosure, a magnetic control system of a capsule endoscope with a guide rail, which is convenient to operate and accurate in control, can be provided.

Description

Magnetic control system of capsule endoscope with guide rail and magnetic control method thereof

Technical Field

The disclosure relates to a magnetic control system of a capsule endoscope with a guide rail and a magnetic control method thereof.

Background

With the development of modern medical technology, lesions on tissue walls of the digestive tract such as the stomach, the large intestine, the small intestine and the like can be detected by introducing a capsule endoscope, and the capsule endoscope can help doctors to obtain accurate information of lesion areas in the digestive tract so as to assist the doctors in diagnosing and treating patients. Such a capsule endoscope generally has a magnet controlled by an external magnetic control device, an imaging device, and a wireless transmission device that transmits a captured image to the outside. Specifically, a doctor, a nurse, or another operator controls an external magnetic control device to magnetically guide a capsule endoscope located in a tissue cavity such as an internal organ such as a stomach or a small intestine so that the capsule endoscope moves inside the tissue cavity, captures an image of a specific position (e.g., a lesion area) in the tissue cavity, and then transmits the captured image to an external processing device by wireless transmission or the like, whereby the doctor or the like can observe and diagnose the digestive tract of a patient.

Currently, an external device for controlling a capsule endoscope, such as a magnetic control device, generally includes a magnetic control unit for generating a magnetic force to the capsule endoscope and a motor for driving the magnetic control unit to move, and an operator inputs a movement command to the motor to drive the magnetic control unit to move. However, the probing of the tissue cavity by such a magnetic control device is complicated in operation and it is difficult to precisely control the movement of the capsule endoscope.

Disclosure of Invention

The present disclosure has been made in view of the above-described state of the art, and an object thereof is to provide a magnetic control system of a capsule endoscope with a guide rail, which is easy to operate and accurate in control, and a magnetic control method thereof.

To this end, the present disclosure provides, in a first aspect, a magnetic control system of a capsule endoscope with a guide rail, wherein: the method comprises the following steps: a capsule endoscope having a built-in magnet and capable of being placed in a tissue cavity of a subject; a guide rail portion having a guide rail; and the magnetic control device is movably arranged on the guide rail and comprises an external magnet, the external magnet is rotatably arranged on the magnetic control device, and the external magnet generates a magnetic action on the internal magnet of the capsule endoscope. In this case, the magnetic control device can move and rotate on the guide rail, so that the capsule endoscope can be controlled to move in the tissue cavity, the magnetic field of the position of the built-in magnet is changed, and the position and the posture of the capsule endoscope are controlled.

In addition, in the magnetic control system according to the first aspect of the present disclosure, optionally, the magnetic control apparatus further includes a coil disposed near the external magnet, the coil generating an induced magnetic field, and the coil applying a magnetic force to the internal magnet in such a manner that the internal magnet is constrained by the induced magnetic field near a perpendicular line passing through a geometric center of the coil and perpendicular to a plane in which the coil is disposed. In this case, it is possible to make the built-in magnet confined by the induced magnetic field in the vicinity of a perpendicular line passing through the geometric center of the coil and perpendicular to the plane in which the coil lies.

In addition, in the magnetic control system according to the first aspect of the present disclosure, optionally, an examination bed for placing the subject is further included, the examination bed includes a base and a bed body disposed on the base, and the guide rail portion and/or the bed body is movably disposed on the base so that the magnetic control device can be close to the tissue cavity of the subject. Thus, the relative position of the magnetic control device and the built-in magnet can be changed conveniently.

In the magnetic control system according to the first aspect of the present disclosure, the bed body may include a first fixing portion and a second fixing portion fixed to the base, and an intermediate portion provided between the first fixing portion and the second fixing portion and having a through hole, and the guide rail may be inserted through the bed body via the through hole. In this case, the bed body can be fixed to the base by the first fixing portion and the second fixing portion.

In the magnetic control system according to the first aspect of the present disclosure, the guide rail portion may further include a mounting portion that is movably provided on the base and supports the guide rail, and a moving module that is provided on the mounting portion. In this case, the guide rail portion and the examination table can be moved relative to each other by the movement module.

In addition, in the magnetic control system according to the first aspect of the present disclosure, optionally, a control module configured to control the movement of the guide rail relative to the base and the movement of the magnetic control device along the guide rail is further included. In this case, the course of movement of the rail part on the base and the course of movement of the magnetic control device on the rail can be adjusted by the control module, so that the movements of the rail part and the magnetic control device can be controlled more precisely.

In addition, in the magnetic control system according to the first aspect of the present disclosure, the magnetic control device may further include a connecting portion that is connected to the guide rail and is movable along the guide rail, and a driving portion that is provided in the connecting portion and drives the external magnet to move. In this case, the magnetic control device can be moved along the guide rail with the aid of the connecting portion, and the control of the external magnet can be accomplished with the aid of the drive portion.

In the magnetic control system according to the first aspect of the present disclosure, the driving unit may include a first driving module configured to rotate the external magnet in a first plane, a second driving module configured to rotate the external magnet in a second plane, and a third driving module configured to move the external magnet in a first direction, and the first plane and the second plane may form an included angle. In this case, the N pole or S pole of the external magnet can be directed in any direction.

In addition, in the magnetic control system according to the first aspect of the present disclosure, optionally, the control module is configured to adjust the connecting portion between the moving module and the magnetic control device to move the magnetic control device along a set path, and to adjust the first driving module, the second driving module, and the third driving module. In this case, the control module adjusts to control the connecting part, the first driving module, the second driving module and the third driving module on the moving module and the magnetic control device of the guide rail part, so that the movement of the guide rail part, the magnetic control device and the external magnet can be more accurate and coordinated.

In addition, in the magnetic control system according to the first aspect of the present disclosure, optionally, the magnetic control device includes a first magnetic control device and a second magnetic control device movably disposed on the guide rail, the first magnetic control device includes a first external magnet rotatably disposed on the first magnetic control device, the first external magnet generates a magnetic force on the internal magnet of the capsule endoscope, the second magnetic control device includes a second external magnet rotatably disposed on the second magnetic control device, and the second external magnet generates a magnetic force on the internal magnet of the capsule endoscope. In this case, if the capsule endoscope is located in the tissue cavity of the subject, the magnetic force applied to the built-in magnet may be a superposition of the magnetic force generated by the first induced magnetic field and the magnetic force generated by the second induced magnetic field. Thus, the capsule endoscope can be restrained, and the capsule endoscope can be accurately controlled to move in the tissue cavity.

In the magnetron system according to the first aspect of the present disclosure, the first magnetron device may further include a first coil that generates a first induced magnetic field, the first coil applying a magnetic force to the built-in magnet in such a manner that the built-in magnet is constrained by the first induced magnetic field in the vicinity of a perpendicular to a plane passing through a geometric center of the first coil and perpendicular to the plane in which the first coil is located, and the second magnetron device may further include a second coil that generates a second induced magnetic field, the second coil applying a magnetic force to the built-in magnet in such a manner that the built-in magnet is constrained by the second induced magnetic field in the vicinity of a perpendicular to a plane passing through a geometric center of the second coil and perpendicular to the plane in which the second coil is located. In this case, the built-in magnet can be bound in the vicinity of a line connecting the geometric center of the first coil and the geometric center of the second coil by the induced magnetic field generated by the first coil and the second coil.

In addition, a second aspect of the present disclosure provides a magnetic control method for a capsule endoscope, characterized in that: the method comprises the following steps: introducing a capsule endoscope with a collection module into a tissue cavity of a subject; applying a magnetic field to the capsule endoscope and changing the magnetic field at the position of the capsule endoscope so as to enable the capsule endoscope to be tightly attached to or close to the inner wall of the tissue cavity; generating a driving force on the capsule endoscope by controlling the magnetic field to move the capsule endoscope along the inner wall from a first position of the tissue cavity to a second position of an opposite or adjacent side within the tissue cavity; the driving force is generated on the capsule endoscope by controlling the magnetic field so as to change the posture of the capsule endoscope and acquire pathological information through the acquisition module. In this case, the examiner can control the movement pattern of the capsule endoscope by the magnetic field after the capsule endoscope is introduced into the tissue cavity, and control the capsule endoscope to collect pathological information of the tissue cavity during the examination.

In the magnetron method according to the second aspect of the present disclosure, the magnetic field may be generated by a magnetron device, and the intensity and direction of the magnetic field may be changed by controlling the rotation and displacement of the magnetron device. In this case, the position and attitude of the capsule endoscope can be controlled by changing the position and attitude of the magnetron device. In this case, the position and attitude of the balloon endoscope can be controlled by the cooperation of the base magnetic field and the coil magnetic field.

According to the present disclosure, it is possible to provide a magnetic control system of a capsule endoscope with a guide rail and a magnetic control method of a capsule endoscope, which are convenient to operate and accurate to control.

Drawings

Fig. 1 is a schematic view showing an overall configuration of a magnetron system according to an embodiment of the present disclosure.

Fig. 2 is a schematic plan view showing a guide rail portion according to an embodiment of the present disclosure.

Fig. 3 is a schematic perspective view showing a guide rail portion according to another embodiment of the present disclosure.

FIG. 4 is a schematic plan view showing the structure of the examination couch according to the embodiment of the present disclosure

Fig. 5 is a schematic perspective view illustrating a magnetron device of a magnetron system according to an embodiment of the present disclosure.

Fig. 6 is a schematic plan view illustrating a magnetron device of a magnetron system according to an embodiment of the present disclosure.

Fig. 7 is a schematic diagram showing an external configuration of a capsule endoscope according to an embodiment of the present disclosure.

Fig. 8 is a schematic view showing an internal structure of a capsule endoscope according to an embodiment of the present disclosure.

Fig. 9 is a simplified flow diagram illustrating a magnetic control system controlling movement of a capsule endoscope within a tissue cavity according to an embodiment of the present disclosure.

FIG. 10 is a schematic illustrating a spiral path of movement of a capsule endoscope within a tissue cavity according to embodiments of the present disclosure.

Description of reference numerals:

10 … a magnetic control system; 11 … guide rail parts; 110 … guide rails; 111 … mounting part; 1111 … driving gear; 12 … a magnetron device; 12a … first magnetron device; 12b … second magnetron; a 121 … connection; 122 … a first drive module; 123 … second drive module; 124 … a magnet fixing module; 125 … external magnet; 125a … first external magnet; 125b … second external magnet; 126 … coil; 126a … first coil; 126b … second coil; 127 … third drive module; 13 … examining the bed; 131 … bed body; 1311 … first fixing part; 1312 … second fixing part; 1313 … intermediate portion; 132 … base; 20 … capsule endoscope; 201 … a main housing; 202 … end housing; 21 … built-in magnet; 22 … acquisition module; 221 … imaging unit; 222 … lighting section; 23 … power supply module; 24 … a transmission module; 30 … subjects; 31 … tissue cavity

Detailed Description

All references cited in this disclosure are incorporated by reference in their entirety as if fully set forth. Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. General guidance for many of the terms used in this application is provided to those skilled in the art. Those of skill in the art will recognize many methods and materials similar or equivalent to those described herein that can be used in the practice of the present disclosure. Indeed, the disclosure is in no way limited to the methods and materials described.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.

It is noted that the terms "comprises," "comprising," and "having," and any variations thereof, in this disclosure, for example, a process, method, system, article, or apparatus that comprises or has a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include or have other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In addition, the subtitles and the like referred to in the following description of the present disclosure are not intended to limit the content or the scope of the present disclosure, and serve only as a cue for reading. Such a subtitle should neither be understood as a content for segmenting an article, nor should the content under the subtitle be limited to only the scope of the subtitle.

(overview)

The present embodiment relates to a magnetic control system of a capsule endoscope with a guide rail, which may be simply referred to as a magnetic control system. A doctor or the like can control the movement of the capsule endoscope in the tissue cavity of the subject using the magnetic control system according to the present embodiment. Hereinafter, the magnetic control system according to the present embodiment will be described in detail with reference to the drawings.

Fig. 1 is a schematic view showing an overall configuration of a magnetron system according to an embodiment of the present disclosure. Fig. 2 is a schematic plan view showing a guide rail portion according to an embodiment of the present disclosure. Fig. 3 is a schematic perspective view showing a guide rail portion according to another embodiment of the present disclosure. Fig. 4 is a schematic plan view showing the structure of the examination couch according to the embodiment of the present disclosure. Fig. 5 is a schematic perspective view illustrating a magnetron device of a magnetron system according to an embodiment of the present disclosure. Fig. 6 is a schematic plan view illustrating a magnetron device of a magnetron system according to an embodiment of the present disclosure.

In the present embodiment, as shown in fig. 1, the magnetron system 10 may include a capsule endoscope 20, a guide rail portion 11, and a magnetron device 12. The guide rail part 11 may have a guide rail 110, the magnetron device 12 may be movably disposed on the guide rail 110, the magnetron device 12 may include an external magnet 125, the external magnet 125 may be rotatably disposed on the magnetron device 12, and the external magnet 125 may generate a magnetic action on the internal magnet 21 of the capsule endoscope 20. In this case, the magnetron 12 can be moved and rotated on the guide rail 110 in this case, so that the capsule endoscope 20 can be controlled to move in the tissue cavity 31, thereby changing the magnetic field at the position of the built-in magnet and controlling the position and posture of the capsule endoscope 20.

In some examples, as shown in fig. 5 and 6, the magnetron 12 may also include a coil 126 disposed near the outer magnet 125. The coil 126 may generate an induced magnetic field, and the coil 126 may apply a magnetic force to the built-in magnet 21 in such a manner that the built-in magnet 21 is constrained by the induced magnetic field in the vicinity of a perpendicular line passing through the geometric center of the coil 126 and perpendicular to the plane in which the coil 126 is located, in which case the built-in magnet 21 can be constrained by the induced magnetic field in the vicinity of a perpendicular line passing through the geometric center of the coil 126 and perpendicular to the plane in which the coil 126 is located.

Additionally, in some examples, as shown in fig. 2, the magnetron devices 12 may include a first magnetron device 12a and a second magnetron device 12b movably disposed on the rail 110.

In some examples, the first magnetron device 12a can include a first outer magnet 125a that can be rotatably disposed on the first magnetron device 12a, and the first outer magnet 125a can magnetically act on the inner magnet 21 of the capsule endoscope 20. The second magnetron 12b may include a second external magnet 125b, the second external magnet 125b being rotatably provided on the second magnetron 12b, and the second external magnet 125b may magnetically act on the internal magnet 21 of the capsule endoscope 20. In this case, if the capsule endoscope 20 is located in the tissue cavity 31 of the subject 30, the magnetic force applied to the built-in magnet 21 may be a superposition of the magnetic force generated by the first induced magnetic field and the magnetic force generated by the second induced magnetic field. This allows the capsule endoscope 20 to be restrained, and the movement of the capsule endoscope 20 in the tissue cavity 31 to be accurately controlled.

In some examples, the first magnetron 12a may further include a first coil 126a that generates a first induced magnetic field, and the first coil 126a may apply a magnetic force to the internal magnet 21 in such a manner that the internal magnet 21 is constrained by the induced magnetic field in the vicinity of a perpendicular to a plane in which the first coil 126a lies through a geometric center of the first coil 126 a; the second magnetron 12b may further include a second coil 126b that generates a second induced magnetic field, and the second coil 126b may apply a magnetic force to the built-in magnet 21 in such a manner that the built-in magnet 21 is constrained by the induced magnetic field in the vicinity of a perpendicular line that passes through a geometric center of the second coil 126b and is perpendicular to a plane in which the second coil 126b is located. In this case, the built-in magnet 21 can be bound to the vicinity of the first and second magnetors 12a and 12 b.

According to the magnetron device 12 of the present embodiment, the capsule endoscope 20 is controlled so that the moving path of the capsule endoscope 20 in the tissue cavity 31 can cover the region where image acquisition is necessary more completely and perform examination in a plurality of postures, and the image in the tissue cavity 31, for example, the image of the inner wall of the tissue cavity 31 can be acquired more sufficiently and more specifically, which is helpful for a doctor or the like to make an accurate diagnosis and treatment on the subject 30.

In this embodiment, the tissue cavity 31 may be a digestive cavity such as a stomach cavity, a large intestine cavity, a small intestine cavity, or the like. Additionally, in some examples, tissue cavity 31 may also be a non-digestive cavity such as the abdominal cavity, thoracic cavity, and the like. For digestive lumens such as gastric lumens, large intestinal lumens, small intestinal lumens, etc., capsule endoscope 20 may be swallowed into the digestive lumen, and for non-digestive lumens, a physician, etc. may open a minimally invasive opening through a clinical procedure to place capsule endoscope 20 in the non-digestive lumen.

The magnetic control system 10 will be described in detail below with reference to the stomach cavity as an example. However, the magnetron system 10 for controlling the capsule endoscope 20 according to the present embodiment is also applicable to other tissue cavities 31.

(Capsule endoscope 20)

Fig. 7 is a schematic diagram showing an external configuration of a capsule endoscope according to an embodiment of the present disclosure. Fig. 8 is a schematic view showing an internal structure of a capsule endoscope according to an embodiment of the present disclosure.

As shown in FIG. 8, the capsule endoscope 20 may have a built-in magnet 21. In this case, the capsule endoscope 20 can be magnetically acted by applying a magnetic action to the built-in magnet. As shown in fig. 7 and 8, in the present embodiment, the capsule endoscope 20 may be a medical device formed into a capsule shape that can be introduced into a tissue cavity 31 of a subject 30 (e.g., a human body). The capsule endoscope 20 may be a capsule-type casing in appearance (see fig. 7). In some examples, the capsule type casing may be composed of a cylindrical main casing 201 and two hemispherical first and second end casings located at both ends of the main casing 201, and the main casing 201 and the first and second end casings in combination may be formed as an airtight packaging structure, i.e., a capsule type casing, to maintain a liquid-tight state inside the capsule endoscope 20. In some examples, the first end housing or the second end housing may be connected with the main housing 201 by a threaded manner. In other examples, the first end housing or the second end housing may also be connected to the main housing 201 by bonding.

Additionally, in some examples, the first end housing or the second end housing may be a transparent optical element capable of transmitting light of a specified wavelength (e.g., visible light), wherein the first end housing or the second end housing may both be transparent optical elements or only one of them may be transparent optical elements.

In addition, in the present embodiment, the capsule endoscope 20 may further include a collection module 22, a power supply module 23, and a transmission module 24 (see fig. 8). Wherein the capture module 22 may include a camera portion 221 and an illumination portion 222, and is disposed at the same end as the transparent end housing 202. The capsule endoscope 20 can capture images in the stomach cavity through the capture module 22, for example, the capsule endoscope 20 can capture images in the tissue cavity (e.g., stomach cavity) 31 by the image capturing part 221 in a manner of taking pictures, for example, taking pictures of the inner wall (e.g., stomach wall) of the tissue cavity 31, and the illumination part 222 can be used for providing illumination for the region to be captured, thereby facilitating the image capturing part 221 to clearly capture pictures. The power module 23 may be used to provide electrical power to the various components in the capsule endoscope 20. Transmission module 24 may be used for signal transmission between capsule endoscope 20 and an external device (not shown), such as transmitting images acquired by acquisition module 22 within tissue cavity (e.g., gastric cavity) 31 to an external device for further processing.

In some examples, the transmission module 24 may perform signal transmission by using wireless transmission methods such as bluetooth, Near Field Communication (NFC), WIFI, Zigbee, and the like. Thus, instant communication of the capsule endoscope 20 with external devices can be facilitated. In other examples, the transmission module 24 may also transmit signals through a wired transmission manner such as USB, HDMI, VGA, etc. In this case, when the capsule endoscope 20 is discharged from the body, the capsule endoscope 20 can perform signal transmission with an external device by wired transmission, thereby effectively reducing power consumption in the capsule endoscope 20 and enabling the capsule endoscope 20 to perform signal transmission even when the power is consumed.

Additionally, in some examples, capsule endoscope 20 may also include a storage module (not shown). Thus, images acquired by acquisition module 22 within tissue cavity (e.g., gastric cavity) 31 can be conveniently preserved.

In addition, in some examples, the shape of the built-in magnet 21 of the capsule endoscope 20 may be one of regular shapes such as a square, a rectangular parallelepiped, a triangular prism, a hexagonal prism, a cylinder, and the like. In this case, by taking the geometric axis of the built-in magnet 21, for example, the central axis, the magnetic axis direction of the built-in magnet 21 can be easily known, and thus the direction of the magnetic force applied to the built-in magnet 21 by the magnet control device 12 can be easily determined.

In addition, in some examples, the magnetic axis of the built-in magnet 21 may have a predetermined angle with the length direction of the capsule endoscope 20. Preferably, the direction of the magnetic axis of the built-in magnet 21 may be the same as the length direction of the capsule endoscope 20. In this case, the posture (deflection angle) of the capsule endoscope 20 can be easily adjusted by adjusting the magnetic force, such as the direction of the magnetic force, etc., applied to the built-in magnet 21.

Additionally, in some examples, capsule endoscope 20 may also include an accelerometer and a gyroscope. Thereby, the posture (deflection angle) information of the capsule endoscope 20 can be acquired conveniently and accurately.

In the present embodiment, the magnetron device 12 can control the capsule endoscope 20 to move in the tissue cavity (for example, the stomach cavity) 31 of the subject 30 by generating a magnetic force action on the internal magnet 21 of the capsule endoscope 20 by the external magnetic field (including the first induced magnetic field generated by the first coil 126a, the magnetic field generated by the external magnet 125, and the second induced magnetic field generated by the second coil 126b) generated by the magnetic field assembly (including the first coil 126a, the external magnet 125, and the second coil 126 b).

(examining table 13)

In some examples, the magnetron system 10 may include an examination couch 13 for carrying the subject 30. The examination couch 13 may include a couch body 131 and a base 132, and the couch body 131 may be disposed on the base 132. In some examples, as shown in fig. 1, the rail portion 11 and/or the bed 131 may be movably disposed on the base 132 to enable the magnetron 12 to be close to the tissue cavity 31 of the subject 30. In this case, the relative position of the magnetron 12 and the built-in magnet 21 can be changed, and the examiner can select the manner of controlling the relative positional relationship of the magnetron 12 and the built-in magnet 21 as actually required.

In other examples, the guide rail 11 may be disposed on the bed 131. That is, the rail part 11 may be directly connected to the bed 131.

In some examples, the top view of the bed 131 may be rectangular. In some examples, the top view of the bed 131 may be an hourglass shape with two wide ends and a narrow middle. In some examples, the top view of the bed 131 may also be a shuttle shape with two narrow ends and a wide middle, a cross shape, a triangle shape, a pentagram shape, etc. Therefore, the shape of the bed 131 can be selected according to actual conditions.

In some examples, the examination table 13 may not include the base 132. In this case, the bed 131 may be directly connected to the ground or a wall, thereby simplifying the structure of the apparatus.

In some examples, as shown in fig. 4, the bed 131 may include a first fixing portion 1311, a second fixing portion 1312, and an intermediate portion 1313, wherein the first fixing portion 1311 and the second fixing portion 1312 may be directly connected to the base 132, and the intermediate portion 1313 may not contact the base 132, thereby forming a through hole between the bed 131 and the base 132. That is, as shown in fig. 1, the bed 131 and the base 132 may have a hollow structure, in which case the bed 131 can be fixed to the base 132 by the first fixing portion 1311 and the second fixing portion 1312, and the guide rail 110 can pass through the through hole.

In some examples, the base 132 may have a groove for disposing a moving module (described later). In some examples, the grooves may be symmetrically disposed on both sides of the base 132. In some examples, the length of the groove and the length of the bed 131 may be approximately equal. In other examples, the length of the groove may be approximately 20cm to 60 cm. For example, in some examples, the length of the groove may be approximately 20cm, 25cm, 30cm, 35cm, 40cm, 45cm, 50cm, 55cm, or 60 cm.

In other examples, the bed 131 may have a groove for disposing the moving module. In some examples, the grooves may be symmetrically disposed on both sides of the bed 131. In some examples, the length of the groove and the length of the bed 131 may be approximately equal. In other examples, the length of the groove may be approximately 20cm to 60 cm. For example, in some examples, the length of the groove may be approximately 20cm, 25cm, 30cm, 35cm, 40cm, 45cm, 50cm, 55cm, or 60 cm.

In other examples, the base 132 may also have a fixture (not shown). Whereby the base 132 can be stably fixed on the ground. In some examples, the securing device may be a threaded or snap-fit arrangement.

In some examples, the examination bed 13 may be formed by integrally molding the bed body 131 and the base 132. This can improve the structural stability of the examination couch 13.

In some examples, the examination table 13 may be vertically placed, and the rail part 11 may be horizontally disposed around the examination table 13. In this case, the subject 30 may lean back on the examination couch 13 and stand upright and receive an examination.

In some examples, the bed 131 may have two or more supporting columns connected to the base 132, and the supporting columns may be disposed around or at the center of the lower surface of the bed 131, so that the structure of the examining table 13 may be simplified and the examining table 13 may be uniformly stressed.

In some examples, the distribution and shape of the support columns between the bed 131 and the base 132 can be obtained by an optimization algorithm. Thus, the designer can reasonably design the number and shape of the support columns according to the stress of the examination bed 13.

In some examples, the subject 30 may lie flat on the bed 131, thereby enabling the endoscope within the tissue cavity 31 to be stably positioned on the cavity wall.

In some examples, the subject 30 may lie on his side or lie flat on the bed 131. This enables the subject 30 to select an appropriate posture for examination.

(guide rail part 11)

In some examples, as shown in fig. 2, the rail part 11 may include a rail 110, a mounting part 111, and a moving module. Wherein, the mounting part 111 may be movably provided to the base 132 and support the guide rail 110, and the moving module may be provided on the mounting part 111. In some examples, the rail 110 may be disposed vertically above the mounting portion 111. In some examples, the mobile module may be connected with the base 132. Thus, the rail portion 11 and the bed 13 can be moved relative to each other by the moving module.

In some examples, the guide rail 110 may pass through the bed 131 via the through hole, and the guide rail 110 may be disposed between the first fixing part 1311 and the second fixing part 1312 of the bed 131.

In some examples, the guide rail 110 of the guide rail portion 11 may be a closed guide rail 110 having a circular shape, an elliptical shape, and an arbitrary polygonal shape, and preferably, the guide rail 110 may be provided as the closed circular guide rail 110. In this case, the magnetron 12 can be moved in a closed path on the guide rail 110. In some examples, the rail 110 may be a non-enclosed rail 110, in which case material may be saved from the rail 110.

In some examples, the center of the circular guide 110 may be located 0-30cm above the upper surface of the bed 131. Thus, when the subject 30 lies on the bed 131, the geometric center of the guide rail 110 can be located near the center position of the tissue cavity 31 of the subject 30, and the distances between the positions on the guide rail 110 and the center position of the tissue cavity 31 can be made substantially equal.

In some examples, the rail part 11 may not be directly connected to the examination table 13, and specifically, the examination table 13 may be fixed at a certain position by an external robot arm, and the rail part 11 may be moved or rotated by the external robot arm. In this case, the rail portion 11 can be separated from the examination bed 13, so that the degree of freedom in movement of the rail portion 11 with respect to the examination bed 13 can be increased.

In other examples, as shown in fig. 3, the mounting portion 111 may be provided in a U-shaped structure, and both walls of the U-shaped structure of the mounting portion 111 are provided with through holes, the through holes may be provided with a roller shaft (not shown), and the driving gear 1111 may be provided on the roller shaft. In some examples, the outer side of the guide rail 110 has a saw-toothed structure, and the outer side of the guide rail 110 may be in meshed connection with the driving gear 1111. In this case, the driving gear 1111 can control the rotation of the guide rail 110, thereby changing the position of the magnetic control device 12 and the magnetic pole direction of the external magnet 125 in another manner. In some examples, the driving gear 1111 may be coupled to a motor, in which case the driving gear 1111 may be driven to rotate by the motor.

In some examples, the mounting portion 111 may be further provided with an auxiliary gear (not shown) engaged with the outer side of the guide rail 110, in which case the force applied to the guide rail 110 may be dispersed.

In other examples, a moving module may be disposed between the mounting portion 111 and the base 132, and the moving module may include a sliding guide, whereby the mounting portion 111 can slide relative to the base 132.

In some examples, the moving module may include a serrated guide rail and a rolling gear, specifically, the serrated guide rail may be disposed in a groove of the examination couch 13, and the rolling gear may be disposed at a lower end of the mounting portion 111, and the rolling gear may be capable of rotating in the serrated guide rail, so that the mounting portion 111 can perform relative movement with the examination couch 13.

In some examples, the movement module may move the rail 110 horizontally, vertically, and rotationally relative to the examination table 13. Thereby, the guide rail 110 can be adjusted to an appropriate position and posture.

In some examples, the movement module may be disposed on the bed 131, and specifically, the movement module may be disposed on either side of the bed 131. This enables the position of the moving module to be set according to actual conditions.

In some examples, the moving module may not be provided on the examination bed 13, and specifically, the moving module may be connected to a wall or a floor on which the magnetic control system 10 is located, whereby the rail portion 11 can freely change the position and posture independently of the examination bed 13.

In some examples, the position of the rail portion 11 may be kept unchanged when examining the tissue cavity 31 of the subject 30, and the relative position between the rail portion 11 and the tissue cavity 31 may be adjusted by moving the bed 131. Specifically, in some examples, the rail portion 11 may be configured to be fixed on the base 132, and a moving module may be disposed between the bed 131 and the base 132. In this case, the bed 131 can move relative to the base 132 through the moving module, so that the tissue cavity 31 on the bed 131 can move relative to the rail 11.

In other examples, when the tissue cavity 31 of the subject 30 is examined, the rail part 11 and the examination table 13 may be moved simultaneously to adjust the relative position between the rail part 11 and the examination table 13, in which case the adjustment of the relative position between the rail part 11 and the examination table 13 may be made more flexible.

(magnetic control device 12)

In some examples, as shown in fig. 5, the magnetron 12 may include a coil 126 and an external magnet 125. The external magnet 125 may be rotatably disposed on the magnetron 12. In addition, the external magnet 125 may generate a magnetic force to the internal magnet 21 of the capsule endoscope 20,

the magnetron 12 may further include a coil 126, the coil 126 may generate an induced magnetic field, and the coil 126 may apply a magnetic force to the built-in magnet 21 in such a manner that the built-in magnet 21 is constrained by the induced magnetic field in the vicinity of a perpendicular line passing through a geometric center of the coil 126 and perpendicular to a plane in which the coil lies. In this case, the magnetron 12 enables the built-in magnet 21 to be constrained by the induced magnetic field in the vicinity of a perpendicular line passing through the geometric center of the coil 126 and perpendicular to the plane in which the coil 126 lies.

In some examples, the magnetron 12 is movably disposed on the rail 110, the magnetron 12 includes an external magnet 125 that magnetically acts on the internal magnet 21 of the capsule endoscope 20, the external magnet 125 configured to be rotatable in a first plane, rotatable in a second plane, and movable in a first direction. In this case, the magnetic pole direction of the external magnet 125 can be changed, thereby changing the magnetic field at the position of the internal magnet 21.

In some examples, the magnetic field at the location of the internal magnet 21 may include a base magnetic field generated by the external magnet 125, which may control the position and attitude of the capsule endoscope 20, and an induced magnetic field generated by the coil 126, which may magnetically act on the capsule endoscope 20 in a manner such that the capsule endoscope 20 is constrained near a perpendicular line passing through the geometric center of the coil 126 and perpendicular to the plane in which the coil 126 lies. In this case, the position and posture of the capsule endoscope 20 can be controlled by making the base magnetic field and the coil magnetic field cooperate with each other.

In some examples, the magnetron device 12 may further include a connection portion 121 and a driving portion. The connecting portion 121 may be connected to the guide rail 110 and may move along the guide rail 110, and the driving portion may be disposed on the connecting portion 121 and may drive the external magnet 125 to move. In this case, the magnetron 12 can be moved along the guide rail 110 with the aid of the connection portion 121, and the control of the external magnet 125 of the magnetron 12 can be accomplished with the aid of the drive portion.

In some examples, the external magnet 125 may apply a magnetic force to the internal magnet 21 in a manner that causes the internal magnet 21 to change posture. In this case, the posture of the internal magnet 21 can be indirectly controlled by controlling the posture of the external magnet 125.

In some examples, the driving part may include a first driving module 122 rotating the external magnet 125 in a first plane, a second driving module 123 rotating the external magnet 125 in a second plane, and a third driving module 127 moving the external magnet 125 in a first direction, the first plane and the second plane forming an angle. In some examples, the first plane forms an angle with a plane in which the guide rail 110 is located, and the second plane forms an angle with a plane in which the guide rail 110 is located. In some examples, the first direction forms an angle with a direction of a central axis of the annular guide rail. In this case, the N-pole or S-pole of the external magnet 125 may be directed in any direction.

In some examples, the magnetron device 12 may further include a magnet fixing module 124 for fixing an external magnet 125. In this case, the external magnet 125 may be kept from being detached from the magnetron 12.

(connecting part 121)

In some examples, the connection portion 121 may be engaged with the guide rail 110, and the connection portion 121 may move along the guide rail 110. In this case, the magnetron device 12 can be moved along the guide rail 110 by the connection portion 121.

(first drive module 122)

In some examples, as shown in fig. 5 and 6, the first drive module 122 may be disposed on the magnet securing module 124 and may rotate the external magnet 125 within a first plane. In some examples, the first driving module 122 may include a first driving motor and a first transmission shaft (not shown) extending through the external magnet 125, the external magnet 125 may be closely connected to the transmission shaft, and the first transmission shaft may rotate the external magnet 125, and the first plane may be a plane perpendicular to the transmission shaft. In this case, the first transmission shaft can rotate the external magnet 125 in the first plane, and the magnetic pole position of the external magnet 125 can be changed.

In some examples, the first drive shaft may be horizontal and the first plane is a vertical plane, in which case the outboard magnet 125 can rotate within the vertical plane.

In some examples, the first drive module 122 may include a first drive motor (not shown). Thus, the first driving module 122 can move the external magnet 125 in the first direction by the driving of the first driving motor.

(second driving module 123)

In some examples, as shown in fig. 5 and 6, the second driving module 123 may be disposed near the third driving module 127. In some examples, the centers of the second drive module 123, the third drive module 127, and the endless track may be located on the same line. In some examples, the second drive module 123 may be disposed at a position such that the second drive module 123 may be located directly below the third drive module 127 when the magnetron 12 is located directly above the center of the circular track. In some examples, the second drive module 123 may include a second drive shaft connected with the magnet fixing module 124, and the second plane may be a plane perpendicular to the second drive shaft. In this case, the second driving module 123 can rotate the magnet fixing module 124 and the external magnet 125 inside the magnet fixing module in the second plane through the second driving shaft.

In some examples, the second drive shaft may be vertical and the second plane may be a horizontal plane, in which case the outboard magnet 125 may rotate within the horizontal plane.

In some examples, the second driving module 123 may drive the external magnet 125 to rotate. In other examples, the second driving module 123 may drive the external magnet 125 and the coil 126 to rotate. In this case, one or both of the external magnet 125 and the coil 126 can be controlled to horizontally rotate. In some examples, the second drive module 123 may include a second drive motor (not shown). In some examples, the second driving motor may drive the second transmission shaft to rotate, so as to drive the magnet fixing module 124 to rotate, and thus the second driving module 123 may drive the external magnet 125 to rotate in the second plane under the driving of the second driving motor.

(third drive module 127)

In some examples, as shown in fig. 5 and 6, the third driving module 127 may be disposed near the connection part 121, and the third driving module 127 may move the external magnet 125 in the first direction. In some examples, the first direction may be a radial direction of the endless track. In other examples, the first direction may be the direction in which the magnetron 12 is wired to the capsule endoscope 20. In this case, the third driving means can move the external magnet 125 away from or close to the capsule endoscope 20.

In some examples, the third drive module 127 may include an external magnet third drive module (not shown) and a coil third drive module (not shown), whereby the third drive module 127 may regulate movement of the external magnet 125 and the coil 126, respectively, in a radial direction. In other examples, the third drive module 127 may be one of an external magnet third drive module or a coil third drive module. This can simplify the structure of the magnetron device 12.

In some examples, the third drive module 127 may further include a third drive motor (not shown). In this case, the third driving module 127 can generate a driving force to the external magnet 125 or the coil 126 by the driving of the third driving motor.

(magnet fixing module 124)

In some examples, as shown in fig. 5 and 6, the external magnet 125 may be connected with the magnet fixing module 124, whereby the external magnet 125 can be stably disposed on the magnetron device 12.

In some examples, the magnet securing module 124 may include a securing slot and a spherical housing, wherein the securing slot is a U-shaped slot configuration, whereby an external magnet 125 may be received within the slot. The spherical shell may be disposed at an opening of the fixing groove, and a radius of the spherical shell may be matched with a depth of the fixing groove. This can ensure that the external magnet 125 does not come off the fixing groove.

In some examples, there may be a gap between the spherical shell and a groove bottom of the fixing groove, and there may be a gap between the spherical shell and both sides of the fixing groove. Thereby, the friction loss between the spherical shell and the fixing groove can be reduced.

In some examples, the spherical shell may have a through hole therethrough. In this case, the drive shaft of the first drive module 122 may fit through the spherical housing. Whereby the spherical shell can be fixed in the fixing groove.

In some examples, the second driving module 123 may be in direct contact with the fixing groove. Thus, the second driving module 123 enables the fixing groove to drive the external magnet 125 to rotate horizontally.

(external magnet 125)

In some examples, the external magnet 125 may be a permanent magnet. The shape of the external magnet 125 may be spherical, mesh, cylindrical, rectangular parallelepiped, ellipsoid, pie-shaped, etc. In some examples, the permanent magnet may include a plurality of small permanent magnets, whereby the magnetic field generated by the permanent magnet may be more diverse.

In some examples, the external magnet 125 may be an electromagnet. In this case, the magnitude of the magnetic field generated by the external magnet 125 can be controlled by the current.

In some examples, the material of the permanent magnet may be one or any combination of magnetic materials such as rare earth permanent magnet material, samarium cobalt, alnico, and ferrite permanent magnet material. Thereby enabling different magnetic materials to be selected according to design requirements.

(coil 126)

In some examples, the outer magnet 125 may be provided with a coil 126 around it, the coil 126 may generate an induced magnetic field, and the coil 126 may apply a magnetic force to the inner magnet 21 in such a manner that the inner magnet 21 is constrained by the induced magnetic field near a perpendicular line passing through the geometric center of the coil 126 and perpendicular to a plane in which the coil 126 lies. In this case, the moving range of the built-in magnet 21 can be restricted by the induced magnetic field generated by the coil 126.

In some examples, the coil 126 may also have a ferrite core. In this case, the iron core can be magnetized, so that the magnetic field strength can be increased.

In some examples, the material of the core may be a soft magnetic material such as iron or steel. Thereby reducing the degaussing time.

In some examples, the coil 126 may be a circular coil, an elliptical coil, or any polygonal coil.

(first and second magnetron devices 12a and 12b)

In some examples, as shown in fig. 2, the magnetron 12 may include a first magnetron 12a and a second magnetron 12b movably disposed on the rail 110.

In some examples, the first magnetron device 12a may include a first outer magnet 125 a. The first external magnet 125a may be rotatably disposed on the first magnetic control device 12 a. The first external magnet 125a may generate a magnetic force action on the internal magnet 21 of the capsule endoscope 20; the second magnetron 12b can include a second external magnet 125 b. Wherein the second external magnet 125b may be rotatably disposed on the second magnetron 12 b. The second external magnet 125b may generate a magnetic force action on the internal magnet 21 of the capsule endoscope 20. In this case, the magnetic force action can be applied to the internal magnet 21 by the superposition of the magnetic force generated by the first external magnet 125a and the magnetic force generated by the second external magnet 125 b.

In some examples, the first magnetron 12a may further include a first coil 126a that generates a first induced magnetic field, and the second magnetron 12b may further include a second coil 126b that generates a second induced magnetic field. In some examples, the first coil 126a may apply a magnetic force to the internal magnet 21 in a manner such that the internal magnet 21 is constrained by the first induced magnetic field near a perpendicular line passing through a geometric center of the first coil 126a and perpendicular to a plane in which the coil 126 lies. In addition, the second coil 126b may apply a magnetic force to the built-in magnet 21 in such a manner that the built-in magnet 21 is constrained by the second induced magnetic field in the vicinity of a perpendicular line passing through the geometric center of the second coil 126b and perpendicular to the plane in which the coil 126 is located. In this case, the built-in magnet 21 can be bound in the vicinity of the line connecting the geometric center of the first coil 126a and the geometric center of the second coil 126b by the induced magnetic field generated by the first coil 126a and the second coil 126 b.

In some examples, a plurality of the magnetic control devices 12 may be disposed on the guide rail 110. In this case, the built-in magnet 21 may be subjected to magnetic forces from a plurality of directions.

In some examples, the first and second magnetrons 12a, 12b may be distributed on both sides of the capsule endoscope 20 on the annular rail 110. In this case, a magnetic force can be applied to the built-in magnets 21 of the capsule endoscope 20 from the directions of both sides of the capsule endoscope 20.

In some examples, the magnetron devices 12 may include a first magnetron device 12a and a second magnetron device 12b disposed symmetrically to the first magnetron device 12a about the geometric center of the rail 110. In this case, the geometric centers of the first and second magnetic control devices 12a and 12b and the guide rail 110 may be collinear.

In some examples, the direction of the first induced magnetic field generated by the first coil 126a may coincide with the direction of the second induced magnetic field generated by the second coil 126 b. In this case, an induced magnetic field having a large intensity can be generated between the first and second magnetron devices 12a and 12 b. At the same time, the magnetic induction lines can be gathered on the connecting line of the two magnetic control devices 12.

In some examples, the first and second magnetrons 12a, 12b may have the same direction of motion. That is, the first and second magnetic control devices 12a and 12b may both move in the clockwise direction or in the counterclockwise direction. In this case, the magnetic field formed by the coil 126 and the external magnet 125 can be stably set between the first and second magnetors 12a and 12 b.

In other examples, the magnetic control devices 12 disposed on the guide rail 110 may not be symmetrically disposed about the geometric center of the guide rail 110, and the first magnetic control device 12a and the second magnetic control device 12b may freely move on the guide rail 110. In this case, the first and second magnetic control devices 12a and 12b can be moved on the guide rail 110 in respective moving manners to generate a magnetic force action on the built-in magnet 21 at a proper position of the guide rail 110.

In some examples, the first induced magnetic field may be determined by a first coil current flowing through the first coil 126a and the second induced magnetic field may be determined by a second coil current flowing through the second coil 126b, in which case the field strength distributions of the first and second induced magnetic fields may be controlled by adjusting the first and second coil currents.

In some examples, the magnetic field at the position of the built-in magnetic field 21 can be changed by adjusting the first coil current and the second coil current, and in some examples, the magnetic field at the position of the built-in magnetic field 21 can be changed by adjusting the positions of the first magnetic control device 12a and the second magnetic control device 12 b. In some examples, the magnetic field at the location of the internal magnetic field 21 can be changed by adjusting the attitude of the first external magnet 125a and the second external magnet 125 b. In this case, the magnetic field at the location of the built-in magnetic field 21 can be adjusted in various ways according to the needs of the examiner.

In some examples, the first and second magnetron devices 12a and 126b are symmetrically disposed about a center of the circular guide rail 110, a magnetic pole of the first coil 126a and a magnetic pole of the second coil 126b have the same direction, the first coil 126a and the second coil 126b have the same number of turns, and the first coil current and the second coil current are the same, in which case, the induced magnetic field may be symmetrically distributed along a perpendicular bisector on a connecting line of the first coil 126a and the second coil 126 b.

In some examples, the first external magnet 125a may include a first permanent magnet and the second external magnet 125b may include a second permanent magnet. In some examples, the total magnetic field that generates a magnetic force for the built-in magnet 21 may include a first base magnetic field generated by the first permanent magnet, a second base magnetic field generated by the second permanent magnet, a first induced magnetic field generated by the first coil 126a, and a second induced magnetic field generated by the second coil 126 b.

In some examples, the first permanent magnet and the second permanent magnet are associated in a manner of motion. Specifically, when viewed from directly above the guide rail 110, the first permanent magnet rotates clockwise horizontally by a certain angle, and the second permanent magnet also rotates clockwise horizontally by the same angle. In this case, the posture of the first permanent magnet and the posture of the second permanent magnet are symmetrically distributed about a perpendicular bisector on a connecting line where the first permanent magnet and the second permanent magnet are located.

In some examples, the first and second substrate magnetic fields may be changed by adjusting positions and magnetic pole directions of the first and second permanent magnets.

In some examples, the lines of magnetic induction of the magnetic field are densely distributed between the first and second magnetically controlled devices 12a and 12 b. This enables a magnetic field having a large intensity to be formed between the first magnetron 12a and the second magnetron 12 b.

In some examples, the first and second induced magnetic fields are steady induced magnetic fields, and the direction of the magnetic field within the tissue cavity 31 is fine-tuned by the first and second substrate magnetic fields. Specifically, the first and second induced magnetic fields may confine the capsule endoscope 20 between the first and second magnetrons 12a and 12b, and the first and second base magnetic fields may be adjusted by changing the magnetic pole directions of the first and second permanent magnets, so that the total magnetic field is changed, thereby enabling the posture of the capsule endoscope 20 to be changed.

(control Module)

In some examples, the magnetron system 10 may also include a control module. The control module may be configured to control movement of the rail 110 relative to the base 132 and movement of the magnetron 12 along the rail 110. In this case, the movement process of the rail portion 11 on the base 132 and the movement process of the magnetron 12 on the guide rail 110 can be adjusted by the control module, so that the movements of the rail portion 11 and the magnetron 12 can be controlled more accurately.

In some examples, the control module may be configured to adjust the connection portion 121 of the moving module and the magnetic control device 12 to move the magnetic control device 12 along the set path, adjust the first driving module 122, the second driving module 123, and the third driving module 127 to change the position and the posture of the built-in magnet 21 of the magnetic control device 12, and adjust the current magnitude of the coil 126 to change the magnetic field strength generated by the coil 126. In this case, the movement module of the guide rail 11 and the connection portion 121, the first driving module 122, the second driving module 123, and the third driving module 127 on the magnetron device 12 can be adjusted by the control module, so that the movement of the guide rail 11, the magnetron device 12, and the external magnet 125 can be more precise and coordinated.

In some examples, the control module may adjust the magnitude of the first coil current and the second coil current. In this case, the control module can adjust the induced magnetic field generated by the coil 126. In some examples, the control module may adjust the speed of movement of the magnetron 12 and the guide rail 110. In this case, the moving speed of the capsule endoscope 20 can be changed.

In some examples, the control module may implement different functions according to different instructions. Specifically, when the control module receives instructions to have capsule endoscope 20 examine tissue cavity 31 in a helical path. The control module may cause capsule endoscope 20 to examine tissue cavity 31 in a helical path via cooperative movement of guide track 110, magnetic control device 12, and external magnet 125. When the control module receives instructions for stopping, rotating, standing, etc. the capsule endoscope 20, the control module may adjust the current of the driving part and the coil 126 to make the capsule endoscope 20 complete the instructions.

In some examples, the control module may be directly manipulated by an operator of the magnetron system 10. In this case, the configurations of the guide rail 110, the magnet control device 12, the driving unit, and the like can be manually adjusted.

(remote control module and receiving module)

In some examples, the magnetron system 10 may also include a remote control module and a receiving module. In some examples, the receiving module may be disposed on the examination table 13. In some examples, the receiving module may receive a signal emitted by the remote control module. In some examples, the receiving module and the remote control module are communicatively coupled. In this case, an operator of the magnetron system 10 can remotely control the magnetron system 10.

In some examples, the remote control device may have a wired connection with the receiving device. In this case, stable communication between the remote control device and the receiving device is possible. In some examples, the remote control device may be wirelessly connected with the receiving device. In some examples, the receiving module may transmit the received signal to the control module. In this case, remote control of the magnetron device 12 can be realized.

In some examples, the wireless connection may be a wireless communication means such as WIFI, Bluetooth, Z-Wave, EnOcean, or NFC. In this case, an appropriate wireless communication method can be selected according to different usage scenarios.

In some examples, the receiving module may have a speech recognizer. In this case, the operator of the magnetron system 10 can directly control the operation of the magnetron system 10 through voice.

(method of operation)

Fig. 9 is a flowchart schematically showing an examination method for examining a tissue cavity of a subject by the magnetic control system according to the present embodiment. Hereinafter, an examination method for examining the tissue cavity 31 of the subject 30 by the magnetic control system 10 will be described in detail with reference to fig. 9 by taking the stomach cavity as an example.

In some examples, as shown in fig. 9, the inspection method may include the steps of: introducing the capsule endoscope 20 into the tissue cavity 31 of the subject 30 (step S100); applying a magnetic field to capsule endoscope 20 and changing the magnetic field at the location of capsule endoscope 20 such that capsule endoscope 20 is in close proximity or near the inner wall of tissue cavity 31; (step S200); generating a driving force on capsule endoscope 20 by controlling the magnetic field to move capsule endoscope 20 along the inner wall from a first position within tissue cavity 31 to a second position on an opposite or adjacent side within tissue cavity 31; (step S300); the capsule endoscope 20 generates driving force by controlling the magnetic field to change the posture of the capsule endoscope 20, and pathological information is acquired through the acquisition module 22. (step S400); in this case, the examiner can control the movement pattern of capsule endoscope 20 by the magnetic field after capsule endoscope 20 is introduced into tissue cavity 31, and control capsule endoscope 20 to collect pathological information of tissue cavity 31 during the examination.

(S100)

In some examples, the subject 30 may lie flat on the examination bed 13 under the direction of the doctor and introduce the capsule endoscope 20 into the stomach cavity by swallowing under the direction of the doctor in step S100.

In some examples, the subject 30 may place the capsule endoscope 20 into the stomach cavity by minimally invasive surgery under the direction of a physician. In this case, the rule introduction method can be selected according to the needs of the subject 30 or the doctor.

(S200)

In some examples, step S200 is performed after the capsule endoscope 20 is introduced into the stomach cavity of the subject 30 in step S100. That is, when the capsule endoscope 20 is introduced into the stomach cavity of the subject 30, a magnetic force is generated to the built-in magnet 21 of the capsule endoscope 20 to attach the capsule endoscope 20 to the stomach wall. Specifically, the control module may pass a first coil current through the first coil 126a and a second coil current through the second coil 126 b. In this case, the first coil 126a and the second coil 126b can generate corresponding induced magnetic fields, and can generate a magnetic action on the internal magnet 21, thereby enabling the internal magnet 21 to be attached to the stomach wall. In other examples, after the capsule endoscope 20 is introduced into the stomach cavity of the subject 30, the control module may adjust the first drive module 122, the second drive module 123, the third drive module 127, the connecting portion 121, and the movement module to bring the magnetron 12 into proximity with the capsule endoscope 20 within the tissue cavity 31. In this case, the magnetic field at the position of the built-in magnet 21 of the capsule endoscope 20 can be increased so that the built-in magnet 21 can be attached to the stomach wall.

In some examples, the magnetic field is generated by the magnetron 12 and the strength and direction of the magnetic field is varied by controlling the rotation and displacement of the magnetron 12. In this case, the position and posture of the capsule endoscope 20 can be controlled by changing the position and posture of the magnetron 12.

In some examples, the magnetic fields include a base magnetic field generated by the external magnet 125 that controls the position and attitude of the capsule endoscope 20 and an induced magnetic field generated by the coil 126 that magnetically acts on the capsule endoscope 20 in a manner that causes the capsule endoscope 20 to be constrained near a perpendicular line passing through the geometric center of the coil 126 and perpendicular to the plane in which the coil 126 lies. In this case, the position and posture of the capsule endoscope 20 can be controlled by making the base magnetic field and the coil magnetic field cooperate with each other.

In some examples, the total magnetic field that generates a magnetic force for the internal magnet 21 may include a first base magnetic field generated by the first external magnet 125a, a second base magnetic field generated by the second external magnet 125b, a first induced magnetic field generated by the first coil 126a, and a second induced magnetic field generated by the second coil 126 b.

In some examples, first coil 126a applies a magnetic force to capsule endoscope 20 in a manner such that capsule endoscope 20 is constrained near a central axis of first coil 126a by a first induced magnetic field, and second coil 126b applies a magnetic force to capsule endoscope 20 in a manner such that capsule endoscope 20 is constrained near a central axis of second coil 126b by a second induced magnetic field. In some examples, the central axis of the first coil 126a may coincide with the central axis of the second coil 126 b. In this case, the capsule endoscope 20 can be constrained near the wiring of the first coil 126a or the second coil 126 b.

In some examples, the magnetic force action on the internal magnet may be generated only by the first and second base magnetic fields, and the direction and strength of the magnetic field at the position of the internal magnet 21 may be changed by changing the positions and postures of the first and second external magnets 125a and 125 b. In this case, the operation steps can be simplified.

In some examples, the first induced magnetic field generated by the first coil 126a may be substantially greater than the second induced magnetic field generated by the second coil 126 b. In other examples, the second induced magnetic field generated by the second coil 126b may be substantially greater than the first induced magnetic field generated by the first coil 126 a. In this case, capsule endoscope 20 may be pressed against the stomach wall.

(S300)

In some examples, after the capsule endoscope 20 is attached to the stomach wall in step S200, step S300 is performed in which a driving force is generated to the capsule endoscope 20 by controlling the total magnetic field generating a magnetic force to the built-in magnet 21 to move the capsule endoscope 20 from a first position of the tissue cavity 31 to a second position of the opposite or adjacent side within the tissue cavity 31 along the inner wall.

In some examples, the control module may vary the magnetic field strength and magnetic field direction of the total magnetic field by varying the position and attitude of guide rail 110, the position of magnetron 12 on guide rail 110, the position and orientation of the poles of built-in magnet 125, and the current through coil 126 to cause capsule endoscope 20 to move along a set path on the inner wall of tissue cavity 31. In this case, the magnetron system 10 can be controlled by a set program, and the magnetron system 10 can have a function of automatic inspection.

In some examples, as shown in fig. 10, the magnetic control device 12 performs a circular motion on the endless guide, and the endless guide moves in the direction of the central axis of the endless guide while the capsule endoscope 20 is applied to the stomach wall by adjusting the coil current. In this case, the capsule endoscope 20 can be moved in a spiral path in the stomach cavity.

In some examples, the path of movement of the capsule endoscope 20 may be helical, curvilinear, linear, tortuous, and circular. In this case, the moving path of the capsule endoscope 20 can be designed according to the shape of the tissue cavity 31 (e.g., stomach cavity) and the operator's needs.

In some examples, the movement path may be disposed on the stomach wall. In other examples, the movement path may be disposed inside the stomach cavity and not connected to the stomach wall. In some examples, the capsule endoscope 20 may be caused to hover by adjusting the coil 126 current and the attitude of the external magnet 125. In this case, the capsule gastroscope can be moved without a support point.

In some examples, capsule endoscope 20 may be moved during movement of capsule endoscope 20

In some examples, the operator may select the start and re-end points of the spiral path, in some examples, the operator may manipulate the speed at which the endoscope capsule moves, and may control the direction of rotation of the spiral path. In this case, the operator can select an appropriate path and scanning pattern according to the specific shape of the gastric cavity.

In some examples, the examination path of capsule endoscope 20 may be split into two separate portions, and magnetron system 10 may adjust the direction of movement of the capsule endoscope according to the position of capsule endoscope 20 in the gastric cavity. Specifically, the capsule gastroscope can start the examination of the spiral path starting from a position near the stomach tube, and then the capsule gastroscope can start the examination of the spiral path starting from a position near the pylorus. In this case, omission of pathological information of the stomach cavity can be avoided.

In some examples, the examination path of the capsule endoscope 20 may be adjusted according to the shape of the gastric cavity, and in particular, when the capsule endoscope 20 moves in a spiral path to the vicinity of the antrum of the stomach, the moving direction of the guide rail 110, the moving speed of the magnetron 12 on the guide rail 110, and the moving manner of the driving part may be changed, in which case the movement of the capsule endoscope 20 in the gastric cavity can be made smoother.

In some examples, capsule endoscope 20 may examine the gastric cavity in a continuous path, and in other examples, capsule endoscope 20 may examine the gastric cavity in a non-continuous path.

In some examples, examining the gastric cavity in a continuous path may be accomplished by: coil 126 of magnetron 12 may maintain current flow through capsule endoscope 20 to allow continuous attachment to the stomach wall while the movement module, drive module and connection 121 are adjusted to allow capsule endoscope 20 to perform an examination of the stomach cavity in a continuous path. In such a situation, the inspection time can be shortened.

In some examples, examining the gastric cavity in a non-continuous path may be accomplished by:

(1) selecting a plurality of check points on the moving path according to the set moving path

(2) The capsule endoscope 20 can be constrained at the beginning of the path of travel by passing an electric current through the coil 126 of the magnetron 12 and/or by placing the external magnet 125 in close proximity to the gastric cavity.

(3) The posture of the capsule endoscope 20 is changed by adjusting the driving module and the connecting portion 121, and the capsule endoscope 20 is simultaneously subjected to operations such as photographing and sampling.

(4) Reducing the coil current through the magnetron 12 and/or moving the external magnet 125 away from the tissue cavity 31 so that it is no longer bound to the path of movement.

(5) The movement module and the connection portion 121 are adjusted to bring the magnetic control device 12 to the next examination position or other examination positions that the examiner believes can collect pathological information of the gastric cavity.

(6) Passing an electric current through the coil 126 of the magnetron 12 and/or bringing the external magnet 125 close to the stomach cavity allows the capsule endoscope 20 to be tethered to the next examination location on the path of travel.

(7) Repeating (3) to (6) until the capsule endoscope 20 finishes the examination of each part of the stomach cavity in the set path.

(S400)

In some examples, capsule endoscope 20 may be configured to acquire pathological information within tissue cavity 31 during movement. In some examples, capsule endoscope 20 may be configured to dwell in a position during movement where pathological information can be acquired, and change the pose of capsule endoscope 20 to acquire pathological information within tissue cavity 31.

In some examples, the posture of the capsule endoscope 20 may be controlled by the driving section when the capsule endoscope 20 is bound to the stomach wall, in which case the capsule endoscope 20 may perform operations such as rotation, imaging, and sampling on the stomach wall according to a specific control instruction input by the operator.

In some examples, the first drive module 122, the second drive module 123, the third drive module 127, and the connection portion 121 may be adjusted by the control module to steer the capsule endoscope 20 in rotation, tilting, and tilting motions. In this case, the inspector can control the posture of the capsule endoscope 20 as desired.

In some examples, the pathological information may include one or more of an image of an inner wall of the stomach cavity, viable tissue, and secretions. In this case, the capsule endoscope can acquire sufficient pathological information.

While the present disclosure has been described in detail in connection with the drawings and examples, it should be understood that the above description is not intended to limit the disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as needed without departing from the true spirit and scope of the disclosure, which fall within the scope of the disclosure.

Various examples of the present disclosure are described above in the detailed description. Although the description directly describes the above examples, it is to be understood that modifications and/or variations to the specific examples shown and described herein may occur to those skilled in the art. Any such modifications and/or variations that fall within the scope of the present description are also included therein. It is the intention of the inventors that the words and phrases in the specification and claims be given the ordinary and customary meaning to the skilled artisan, unless otherwise indicated.

Claims (14)

1. The utility model provides a capsule endoscope's magnetic control system with guide rail which characterized in that:

the method comprises the following steps:

a capsule endoscope having a built-in magnet and capable of being placed in a tissue cavity of a subject;

a guide rail portion having a guide rail; and

the magnetic control device is movably arranged on the guide rail and comprises an external magnet, the external magnet is rotatably arranged on the magnetic control device, and the external magnet generates a magnetic action on the internal magnet of the capsule endoscope.

2. The magnetron system of claim 1, wherein:

the magnetic control device also comprises a coil arranged near the external magnet, the coil generates an induction magnetic field, and the coil applies magnetic force to the internal magnet in a mode that the internal magnet is restrained by the induction magnetic field to be near a perpendicular line which passes through the geometric center of the coil and is perpendicular to the plane of the coil.

3. The magnetron system of claim 1, wherein:

the magnetic control device is characterized by further comprising an examination bed used for carrying the examinee, wherein the examination bed comprises a base and a bed body arranged on the base, and the guide rail part and/or the bed body are movably arranged on the base so that the magnetic control device can be close to the tissue cavity of the examinee.

4. The magnetron system of claim 3, wherein:

the bed body comprises a first fixing part and a second fixing part which are fixed on the base, and a middle part which is arranged between the first fixing part and the second fixing part and is provided with a through hole, and the guide rail penetrates through the bed body through the through hole.

5. The magnetron system of claim 3, wherein:

the guide rail part further comprises an installation part movably arranged on the base and supporting the guide rail and a moving module arranged on the installation part.

6. The magnetron system of claim 3, wherein:

also included is a control module configured to control movement of the guide rail relative to the base and movement of the magnetron along the guide rail.

7. The magnetron system of claim 6, wherein:

the magnetic control device also comprises a connecting part which is connected with the guide rail and can move along the guide rail, and a driving part which is arranged on the connecting part and drives the external magnet to move.

8. The magnetron system of claim 7, wherein:

the driving part comprises a first driving module, a second driving module and a third driving module, wherein the first driving module enables the external magnet to rotate in a first plane, the second driving module enables the external magnet to rotate in a second plane, the third driving module enables the external magnet to move along a first direction, and an included angle is formed between the first plane and the second plane.

9. The magnetron system of claim 8, wherein:

the control module is configured to adjust the connection of the movement module and the magnetic control device to move the magnetic control device along a set path, and to adjust the first, second, and third drive modules.

10. The magnetron system of claim 1, wherein:

the magnetic control device comprises a first magnetic control device and a second magnetic control device which are movably arranged on the guide rail,

the first magnetic control device comprises a first external magnet which is rotatably arranged on the first magnetic control device and generates magnetic force action on the internal magnet of the capsule endoscope,

the second magnetic control device comprises a second external magnet which is rotatably arranged on the second magnetic control device and generates magnetic action on the internal magnet of the capsule endoscope.

11. The magnetron system of claim 10, wherein:

the first magnetic control device further includes a first coil that generates a first induced magnetic field, the first coil applying a magnetic force to the built-in magnet in such a manner that the built-in magnet is constrained by the first induced magnetic field in the vicinity of a perpendicular line that passes through a geometric center of the first coil and is perpendicular to a plane in which the first coil is located,

the second magnetron device further includes a second coil that generates a second induced magnetic field, the second coil applying a magnetic force to the built-in magnet in such a manner that the built-in magnet is constrained by the second induced magnetic field in the vicinity of a perpendicular line that passes through a geometric center of the second coil and is perpendicular to a plane in which the second coil is located.

12. A magnetic control method of a capsule endoscope is characterized in that:

the method comprises the following steps:

introducing a capsule endoscope with a collection module into a tissue cavity of a subject;

applying a magnetic field to the capsule endoscope and changing the magnetic field at the position of the capsule endoscope so as to enable the capsule endoscope to be tightly attached to or close to the inner wall of the tissue cavity;

generating a driving force on the capsule endoscope by controlling the magnetic field to move the capsule endoscope along the inner wall from a first position of the tissue cavity to a second position of an opposite or adjacent side within the tissue cavity;

the driving force is generated on the capsule endoscope by controlling the magnetic field so as to change the posture of the capsule endoscope and acquire pathological information through the acquisition module.

13. The magnetron method of claim 12, wherein:

the magnetic field is generated by a magnetic control device, and the strength and the direction of the magnetic field are changed by controlling the rotation and the displacement of the magnetic control device.

14. The magnetron method of claim 12, wherein:

the magnetic field comprises a base magnetic field generated by an external magnet and an induction magnetic field generated by a coil, the base magnetic field controls the position and the posture of the capsule endoscope, and the induction magnetic field generates a magnetic action on the capsule endoscope in a mode that the capsule endoscope is constrained near a perpendicular line passing through the geometric center of the coil and perpendicular to the plane where the coil is located.

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