CN114052625A

CN114052625A - Hand-held magnetic control device

Info

Publication number: CN114052625A
Application number: CN202010771333.XA
Authority: CN
Inventors: 彭璨; 陈意; 夏然
Original assignee: Shenzhen Siji Intelligent Control Technology Co ltd
Current assignee: Shenzhen Siji Intelligent Control Technology Co ltd
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2022-02-18

Abstract

The present disclosure describes a hand-held magnetic control apparatus of a capsule endoscope, which includes a main body, a holding mechanism, and a display device. Wherein, the main body comprises a magnet, a driving mechanism for driving the magnet to rotate, and a magnetic sensor for detecting the built-in magnet of the capsule endoscope; the holding mechanism is provided with a handle arranged on the main body and used for holding and an arm support used for supporting an arm; the display device displays the orientation of the capsule endoscope according to the detection information of the magnetic sensor. The main body has an examination surface facing the subject, the drive mechanism drives the magnet to rotate so as to adjust the magnetic axis direction of the magnet and form an angle between the magnetic axis direction and the examination surface, and the handle and the arm rest are arranged so that the operator can form a lever structure with the main body by using the handle as a fulcrum and the arm rest as an application point or by using the arm rest as a fulcrum and the handle as an application point so as to move the main body. According to the present disclosure, a hand-held magnetic control device that is easy to operate and can accurately control a capsule endoscope can be provided.

Description

Hand-held magnetic control device

Technical Field

The present disclosure generally relates to the field of magnetic control, and more particularly to a hand-held magnetic control device for a capsule endoscope.

Background

With the development of modern medical science and technology, lesions on tissue walls of digestive cavities such as gastric cavity, large intestine cavity, small intestine cavity and the like can be diagnosed through a capsule endoscope, and the capsule endoscope can help doctors to acquire information of lesion areas of the digestive tract so as to assist the doctors in diagnosing and treating the examinees. Such capsule type endoscopes generally have a built-in magnet acted on by a magnetic force of an external magnetic control device and a collecting device for collecting data in the digestive tract. Specifically, a doctor or the like magnetically guides a capsule endoscope positioned in the digestive tract by operating an external magnetic control device so that the capsule endoscope moves in the digestive tract, thereby acquiring an image of a specific position (for example, a lesion area) in the digestive tract.

The external magnetic control devices include a fixed magnetic control device and a hand-held magnetic control device, and among them, the hand-held magnetic control device is gradually favored by doctors and the like because of its portability and easy operation. A conventional hand-held magnetic control device for controlling a capsule endoscope generally includes a magnet for generating a magnetic force to a built-in magnet of the capsule endoscope and a housing for mounting the magnet.

However, in the conventional hand-held magnetic control device, a doctor or the like usually adjusts the posture (deflection angle) of the capsule endoscope in the digestive tract by manually rotating the magnet based on experience, and in this case, it is difficult for the doctor or the like to accurately control the deflection angle of the magnet, and thus it is difficult to accurately adjust the posture of the capsule endoscope. In addition, the magnet generally has a large mass, and the conventional hand-held magnetic control device lacks a structural design that contributes to labor saving, for example, and thus, a doctor or the like may have problems that are disadvantageous to the operation, such as fatigue, during the operation.

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 hand-held magnetic control device that can control a capsule endoscope accurately and is easy to operate.

To this end, the present disclosure provides a hand-held magnetic control apparatus of a capsule endoscope having a built-in magnet and a collecting device, the capsule endoscope being introduced into a subject and collecting data in a tissue cavity of the subject by the collecting device, the hand-held magnetic control apparatus including a main body, a holding mechanism, and a display device. The main body comprises a magnet, a driving mechanism for driving the magnet to rotate, a magnetic control part for controlling the driving mechanism and provided with an input device for inputting control instructions, and a magnetic sensor for detecting the built-in magnet of the capsule endoscope; the holding mechanism is provided with a handle arranged on the main body and used for holding and an arm support used for supporting an arm; the display device displays the orientation of the capsule endoscope according to the detection information of the magnetic sensor, wherein the main body has an examination surface facing a subject, the magnetic control section is configured to control the drive mechanism to adjust a magnetic axis direction of the magnet and form an angle with the examination surface in accordance with an orientation of the capsule endoscope and the control instruction, the handle and the input device are configured such that the input device is disposed at or near the handle, and an operator can simultaneously hold the handle and operate the input device with a single hand, the handle and the arm support are configured such that an operator can form a lever structure with the body using the handle as a fulcrum and the arm support as a point of application of force, or using the arm support as a fulcrum and the handle as a point of application of force, in order to move the body.

In the handheld magnetic control device related to the present disclosure, the orientation of the capsule endoscope is detected by the magnetic sensor so as to move the handheld magnetic control device to the vicinity of the capsule endoscope, and the magnetic axis direction of the magnet is adjusted by driving the magnet to rotate by the driving mechanism, so as to adjust the posture of the capsule endoscope in the tissue cavity, thereby accurately controlling the movement of the capsule endoscope in the tissue cavity. In addition, the handle and the arm support are arranged, and the main body, the handle and the arm support are in a lever structure, so that the fatigue feeling of a doctor and the like caused by large magnet mass in the operation process can be effectively relieved, and the handheld magnetic control device can be operated more easily.

In the handheld magnetic control device related to the present disclosure, optionally, the holding mechanism further includes a telescopic connecting rod for connecting the handle and the arm support. Therefore, the distance between the handle and the arm support can be conveniently adjusted.

In the handheld magnetic control device according to the present disclosure, the drive mechanism may include a first drive portion that drives the magnet to rotate along a first axis, and a second drive portion that drives the magnet to rotate along a second axis. Therefore, the rotation of the magnet in two different directions can be conveniently controlled.

In the handheld magnetron to which the present disclosure relates, optionally, the first axis is perpendicular to the second axis. Thereby, the magnet can be controlled to rotate in two perpendicular directions.

In the handheld magnetic control device related to the present disclosure, optionally, the handle is elongated, and an included angle between a length direction of the handle and a connection line between the handle and the arm rest is not less than 45 degrees. Thus, the grip can be facilitated.

In the handheld magnetic control device related to the present disclosure, optionally, the magnetic sensor is configured to detect a magnetic field of a built-in magnet of the capsule endoscope in a three-dimensional direction to detect an orientation of the built-in magnet, thereby detecting the orientation of the capsule endoscope. This enables accurate acquisition of the orientation of the capsule endoscope.

In the handheld magnetic control device to which the present disclosure relates, optionally, the magnet is a permanent magnet in a spherical shape, an ellipsoidal shape, or a cylindrical shape. In this case, the magnetic axis of the magnet can be taken through the geometric axis of the magnet.

In the handheld magnetic control device related to the present disclosure, optionally, the magnetic sensor and the magnet have a predetermined relative position.

In the handheld magnetic control apparatus related to the present disclosure, optionally, the input device is a button or a touch panel. Thereby, input can be facilitated.

In the handheld magnetic control device related to the present disclosure, optionally, the display device is further used for displaying the data acquired by the capsule endoscope. In this case, the hand-held magnetic control device is used for displaying the data collected by the capsule endoscope, so that the dependence on external equipment can be reduced.

According to the present disclosure, a hand-held magnetic control device that can control a capsule endoscope precisely and is easy to operate can be provided.

Drawings

The disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram showing an application of a hand-held magnetic control device of a capsule endoscope according to an example of the present disclosure.

Fig. 2 is a schematic structural view showing a capsule endoscope according to an example of the present disclosure.

Fig. 3 is a schematic structural diagram illustrating one perspective of a handheld magnetic control apparatus according to an example of the present disclosure.

Fig. 4 is a schematic structural diagram illustrating another perspective of a handheld magnetic control apparatus according to an example of the present disclosure.

Fig. 5 is a schematic diagram illustrating a handheld magnetic control device according to an example of the present disclosure adjusting the attitude of a capsule endoscope.

Fig. 6 is a schematic diagram illustrating one example of a holding mechanism of a handheld magnetic control device according to an example of the present disclosure.

Fig. 7 is a schematic diagram illustrating another example of a holding mechanism of a handheld magnetic control device according to an example of the present disclosure.

Fig. 8 is a schematic flow chart showing the movement of a capsule endoscope controlled by a hand-held magnetic control device according to an example of the present disclosure.

Detailed Description

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 headings and the like referred to in the following description of the present disclosure are not intended to limit the content or scope of the present disclosure, but merely serve as a reminder 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.

Embodiments of the present disclosure relate to a hand-held magnetic control device of a capsule endoscope. The capsule endoscope can be guided into a tissue cavity of a detected person, and the handheld magnetic control device can be used for controlling the movement of the capsule endoscope in the tissue cavity. According to the hand-held magnetic control device of the present embodiment, the movement of the capsule endoscope in the tissue cavity can be accurately controlled.

Fig. 1 is a schematic diagram illustrating an application scenario of a handheld magnetic control device 20 of a capsule endoscope 10 according to an example of the present disclosure.

In the present embodiment, as shown in fig. 1, the capsule endoscope 10 can be introduced into the tissue cavity 30 of the subject and can acquire data within the tissue cavity 30, and a doctor or the like can acquire data of a specific position within the tissue cavity 30 by operating the hand-held magnetic control device 20 to control the movement of the capsule endoscope 10 within the tissue cavity 30.

Fig. 2 is a schematic structural view showing a capsule endoscope 10 according to an example of the present disclosure.

In some examples, the capsule endoscope 10 may be a medical device in the form of a capsule that is formed to be introduced into a tissue cavity 30 of a subject. In some examples, the housing 100 of the capsule endoscope 10 may be a capsule-type casing (see fig. 2). Thereby, movement of the capsule endoscope 10 within the tissue cavity 30 can be facilitated.

In some examples, the housing 100 of the capsule endoscope 10 may include a cylindrical main housing 101 and two dome-shaped end housings 102 and 103 (see fig. 2) at both ends of the main housing 101, respectively. In some examples, the main housing 101 in combination with the end housing 102 and the end housing 103 may be formed as a sealed enclosure, i.e., a capsule-type housing, to maintain a liquid-tight state inside the housing 100 of the capsule endoscope 10. Thereby, it can be facilitated to house and protect the electronic device within the housing 100.

In some examples, the end housing 102 or the end housing 103 may be an optical element capable of transmitting light of a specified wavelength (e.g., visible light, infrared light). In some examples, both the end housing 102 and the end housing 103 may be optical elements capable of transmitting visible light. In other examples, one of the end housing 102 or the end housing 103 may be an optical element capable of transmitting visible light.

In some examples, capsule endoscope 10 may include an acquisition module 11 (see fig. 2). In some examples, the acquisition module 11 may be an image acquisition module such as a camera, and the end housing 103 is transparent to visible light. In this case, the acquisition module 11 may acquire image data within the tissue cavity 30 through the end housing 103, for example, by imaging an inner wall of the tissue cavity 30 through the end housing 103.

In some examples, capsule endoscope 10 may also include a storage module 12. In some examples, storage module 12 may be used to store image data acquired by acquisition module 11 within tissue cavity 30. In some examples, the memory module 12 may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a ferroelectric memory (FeRAM), or a solid state memory (SSD). In this case, the memory module 12 can have the characteristics of high storage stability and difficulty in losing data stored in the memory.

In some examples, capsule endoscope 10 may also include a transmission module 13. In some examples, the transmission module 13 may be used for data transmission between the capsule endoscope 10 and the hand-held magnetron device 20. For example, the transmission module 13 may transmit the image data acquired by the acquisition module 11 to the handheld magnetic control device 20. In some examples, the transmission module 13 may be a bluetooth module, a Near Field Communication (NFC) module, a WIFI module, or other wireless transmission module.

In some examples, the transmission module 13 may transmit the image data acquired by the acquisition module 11 in the tissue cavity 30 to the handheld magnetic control device 20 at the instant. That is, each time the acquisition module 11 acquires an image data, the transmission module 13 can directly transmit the image data to the handheld magnetic control device 20.

In other examples, the image data acquired by the acquisition module 11 may be stored in the storage module 12, and then the transmission module 13 may periodically or quantitatively transmit the image data to the handheld magnetic control device 20. In some examples, the transmission module 13 may transmit the image data stored in the storage module 12 to the handheld magnetic control device 20 at once every predetermined time, for example, after 5 seconds, 10 seconds, 15 seconds, or 20 seconds. In some examples, the transmission module 13 may transmit the newly added predetermined amount of image data to the handheld magnetic control device 20 at once whenever the newly added amount of image data stored in the storage module 12 reaches a predetermined amount, for example, 5 frames, 10 frames, 15 frames, or 20 frames.

Additionally, in some examples, capsule endoscope 10 may also include a gyroscope (not shown) that may acquire pose information of capsule endoscope 10 within tissue cavity 30. In some examples, the storage module 12 may also store pose information of the capsule endoscope 10 within the tissue cavity 30, which the transmission module 13 may also transmit to the handheld magnetron 20.

Additionally, in some examples, capsule endoscope 10 may also include an accelerometer (not shown) that may acquire acceleration information of capsule endoscope 10 within tissue cavity 30. In some examples, the storage module 12 may also store acceleration information of the capsule endoscope 10 within the tissue cavity 30, which the transmission module 13 may also transmit to the handheld magnetron 20.

Additionally, in some examples, the capsule endoscope 10 may further include a Ph detection device (not shown) that may acquire Ph information within the tissue cavity 30. In some examples, the storage module 12 may also store Ph information acquired by the capsule endoscope 10 within the tissue cavity 30, and the transmission module 13 may also transmit the Ph information to the handheld magnetron 20.

Additionally, in some examples, capsule endoscope 10 can further include a tissue cavity peristaltic detection device (not shown) that can obtain peristaltic information of tissue cavity 30, such as peristaltic speed, peristaltic force, and peristaltic acceleration of tissue cavity 30, among others. In some examples, the storage module 12 may further store the peristaltic speed, peristaltic force, peristaltic acceleration, and the like of the tissue cavity 30 acquired by the capsule endoscope 10 in the tissue cavity 30, and the transmission module 13 may further transmit the peristaltic information to the handheld magnetic control device 20.

Additionally, in some examples, capsule endoscope 10 may further include an ultrasonic detection device (not shown) that may acquire ultrasonic information within tissue cavity 30. For example, the ultrasound detection device may emit ultrasound towards the inner wall of the tissue cavity 30 to obtain, for example, structural information of the inner wall of the tissue cavity 30. In some examples, the storage module 12 may also store structural information of the inner wall of the tissue cavity 30 acquired by the capsule endoscope 10 within the tissue cavity 30, which the transmission module 13 may also transmit to the handheld magnetron 20.

Additionally, in some examples, capsule endoscope 10 may also include an internal magnet 14. In some examples, the internal magnet 14 may be a regular shape such as a square, a rectangular parallelepiped, a triangular prism, a hexagonal prism, or a cylinder. In some examples, the axis of the internal magnet 14 and the axis of the capsule endoscope 10 may have a predetermined angle therebetween. In other examples, the axis of the built-in magnet 14 and the axis of the capsule endoscope 10 may be collinear. In this case, the posture of the capsule endoscope 10 can be easily adjusted by adjusting the direction of the magnetic force exerted on the built-in magnet 14.

In the present embodiment, as described above, a doctor or the like can control the movement of the capsule endoscope 10 within the tissue cavity 30 by operating the hand-held magnetron device 20. Specifically, the hand-held magnetic control device 20 can control the movement of the capsule endoscope 10 by magnetically guiding the built-in magnet 14 by generating a magnetic force on the built-in magnet 14 of the capsule endoscope 10.

Fig. 3 is a schematic structural diagram illustrating a view angle of the handheld magnetron device 20 according to an example of the present disclosure. Fig. 4 is a schematic structural diagram illustrating another perspective of the handheld magnetron device 20 according to an example of the present disclosure. Fig. 5 is a schematic diagram illustrating the handheld magnetron 20 according to an example of the present disclosure adjusting the posture of the capsule endoscope 10.

In the present embodiment, the handheld magnetic control device 20 may include a main body 21 and a holding mechanism 22 (see fig. 3) provided to the main body 21 and used for holding.

In some examples, the main body 21 may have an examination surface S that a doctor or the like can face toward a subject when operating the hand-held magnetic control device 20 in order to examine the subject. In some examples, when a doctor or the like performs an examination on a subject, the examination surface S may be kept in a horizontal direction. Note that the inspection surface S may be a plane indicating a position or an orientation of a certain component of the hand-held magnetron device 20, and may not be a physical surface of a certain component. In the embodiment shown in fig. 3, when the handheld magnetron 20 is horizontally placed, the inspection surface S may be a plane parallel to the length direction of the handheld magnetron 20 and located below the handheld magnetron 20.

In the present embodiment, the main body 21 may include a magnet 211, and the magnet 211 may generate a magnetic force action on the built-in magnet 14. In some examples, the magnet 211 is rotatably disposed to the body 21. In this case, by rotating the magnet 211 to adjust the magnetic axis direction of the magnet 211 and making an angle between the magnetic axis direction and the examination surface S, the direction of the magnetic force received by the built-in magnet 14 can be adjusted, and thereby the posture of the capsule endoscope 10 within the tissue cavity 30 can be adjusted (see fig. 5). In some examples, the angle between the magnetic axis direction and the inspection surface S may be 45 to 90 degrees. In some examples, the angle between the magnetic axis direction and the examination surface S may be 45 degrees, 50 degrees, 55 degrees, 60 degrees, 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, or 90 degrees.

In some examples, the magnet 211 may be a permanent magnet that is spherical, ellipsoidal, or cylindrical. In other examples, the magnet 211 may also be a coil or a combination of a coil and a permanent magnet.

In some examples, the body 21 may also include a drive mechanism 212. The driving mechanism 212 may be used to drive the magnet 211 to rotate, thereby adjusting the magnetic axis direction of the magnet 211.

In some examples, the drive mechanism 212 may include a first drive portion 2121 and a second drive portion 2122 (see fig. 4). In some examples, the first drive portion 2121 may drive the magnet 211 along the first axis a₁The rotation is performed. The second driving part 2122 may drive the magnet 211 along the second axis a₂Rotation is performed (see fig. 4). In some examples, a line connecting the center of the first driving part 2121 and the center of the magnet 211 may be perpendicular to a line connecting the center of the second driving part 2122 and the center of the magnet 211. That is, the first axis A₁May be perpendicular to the second axis A₂(see fig. 4).

In some examples, the main body 21 may further include a magnetic control portion 213, and the magnetic control portion 213 may be used to control the drive mechanism 212. In some examples, the magnetron 213 may have an input device 2131, and a doctor or the like may input a control instruction through the input device 2131 to control the driving mechanism 212. In some examples, the doctor can input the control instruction of the first driving part 2121 through the input device 2131, and can also input the control instruction of the second driving part 2122 through the input device 2131.

In some examples, the input device 2131 may be a button (see fig. 3). In some examples, the input device 2131 may include a first button for controlling the first driver 2121 and a second button for controlling the second driver 2122. In other examples, input device 2131 may be a touchpad.

In some examples, the body 21 may also include a magnetic sensor 214, and the magnetic sensor 214 may be used to detect the built-in magnet 14 of the capsule endoscope 10. In some examples, the magnetic sensor 214 and the magnet 211 may have a predetermined relative position therebetween. In some examples, the geometric centers of the magnetic sensor 214 and the magnet 211 may be located in the same horizontal plane when the hand-held magnetron device 20 is horizontally positioned.

In some examples, the magnetic sensor 214 may detect the magnetic field generated by the internal magnet 14 and calculate the orientation of the magnetic sensor 214 relative to the internal magnet 14 based on a model of the magnetic dipole of the internal magnet 14, thereby obtaining the orientation of the capsule endoscope 10 relative to the magnetic sensor 214. In this case, the doctor can move the hand-held magnetic control device 20 to the vicinity of the capsule endoscope 10 according to the orientation of the capsule endoscope 10 with respect to the magnetic sensor 214, thereby controlling the movement of the capsule endoscope 10 more favorably.

Specifically, the magnetic sensor 214 may record the background magnetic field (X) generated by the magnet 211_m0，Y_m0，Z_m0) And a magnetic dipole model with a built-in magnet 14. When the capsule endoscope 10 is located at any position within the tissue cavity 30, the magnetic field detected by the magnetic sensor 214 at this time is (Xs, Ys, Zs). In this case, the capsule endoscope 10 incorporates therein a magnetic field (Xc, Yc, Zc) generated by the magnet 14 (Xs-X)_m0，Ys-Y_m0，Zs-Z_m0) Then, the orientation of the capsule endoscope 10 with respect to the magnetic sensor 214 can be calculated by using the magnetic dipole model of the built-in magnet 14 of the capsule endoscope 10.

In some examples, the magnetic sensor 214 may be configured as at least one three-axis magnetic sensor, two and/or two-axis magnetic sensors, or three or more one-axis magnetic sensors. In some examples, the magnetic sensor 214 may be disposed around the magnet 211. In the embodiment shown in fig. 4, the magnetic sensors 214 may include a first magnetic sensor 214a, a second magnetic sensor 214b, and a third magnetic sensor 214c, and the first magnetic sensor 214a, the second magnetic sensor 214b, and the third magnetic sensor 214c may be uniformly distributed around the magnet 211.

In the present embodiment, as described above, the handheld magnetic control device 20 may further include the holding mechanism 22. In some examples, the gripping mechanism 22 may include a handle 221 for gripping and an arm rest 222 for supporting an arm (see fig. 3).

In some examples, the handle 221 may be cylindrical, e.g., cylindrical or prismatic. In some examples, arm rest 222 may be a flexible strap-like structure, for example arm rest 222 may be a flat strap made from fabric or plastic. This improves comfort when the arm rest 222 supports the arm. In some examples, arm rest 222 may have a lower ductility.

In some examples, the angle between handle 221 and the line connecting handle 221 and arm rest 222 may be no less than 45 degrees. In some examples, the angle between the handle 221 and a line connecting the handle 221 and the arm rest 222 may be 60 degrees, 70 degrees, 80 degrees, or 90 degrees. Thus, the grip can be facilitated.

In some examples, a connecting rod 223 may be disposed between the handle 221 and the arm rest 222. In the embodiment shown in fig. 3, the connecting bar 223 may include a first connecting bar 2231 and a second connecting bar 2232 disposed opposite to each other on both sides of the arm rest 222. In some examples, the distance between first and second connecting

rods

2231, 2232 may be 5 to 15 cm.

In some examples, the holding mechanism 22 may further include a fixing portion 224, and the fixing portion 224 may include a first fixing portion 2241 connected to the first connecting bar 2231 and a second fixing portion 2242 connected to the second connecting bar 2232, respectively. The first connecting rod 2231 may be connected to the body 21 through a first fixing part 2241, and the second connecting rod 2232 may be connected to the body 21 through a second fixing part 2242 (see fig. 3).

In some examples, the first connecting rod 2231 may be formed of one continuous and integrated rod body, and the first connecting rod 2231 is rotatably connected to the first fixing portion 2241. In the embodiment shown in fig. 3, the first connecting rod 2231 can rotate in the direction D as shown with the first fixing portion 2241 as the origin, so as to retract the connecting rod 223 below the body 21. Therefore, the accommodating space required by the handheld magnetic control device 20 can be reduced, and the handheld magnetic control device is convenient to accommodate. In this embodiment, the second connecting rod 2232 and the first connecting rod 2231 may have the same or similar arrangement.

In some examples, the input device 2131 may be disposed near the handle 221 (see fig. 3). In this case, the operator such as a doctor can operate the input device 2131 while holding the handle 221 with one hand, and can perform examination guidance on the subject with the other hand while facilitating the doctor to operate the hand-held magnetron device 20. In some examples, an input device 2131 may also be provided on the handle 221.

In some examples, the distance between the magnet 211 and the handle 221 may be smaller than the distance between the handle 221 and the arm rest 222, and the magnet 211, the handle 221, the connecting rod 223, and the arm rest 222 may substantially constitute a lever structure (see fig. 3). In this case, the operator such as a doctor can lift, or move the magnet 211 by using the handle 221 as a fulcrum and the arm rest 222 as a point of application, or by using the handle 221 as a point of application and the arm rest 222 as a fulcrum and using the connecting rod 223 as an arm. Thus, the fatigue feeling of a doctor or the like due to, for example, a large magnet mass during operation can be relieved by the lever structure, and the hand-held magnetic control device 20 can be operated more easily.

Fig. 6 is a schematic diagram illustrating one example of the holding mechanism 22 of the handheld magnetron device 20 according to an example of the present disclosure. Fig. 7 is a schematic diagram illustrating another example of the holding mechanism 22 of the handheld magnetron device 20 according to an example of the present disclosure.

In some examples, the first connecting rod 2231 may be formed by two rod bodies having different diameters. In the embodiment shown in fig. 6, the first connecting rod 2231 may include a rod 2231a and a rod 2231b, the rod 2231a may have a cavity, an inner diameter of the cavity is equal to or slightly larger than an outer diameter of the rod 2231b, and the rod 2231b is telescopically disposed on the rod 2231a, so as to adjust a distance between the handle 221 and the arm support 222 and adjust an accommodating space required by the holding mechanism 22. This facilitates the matching of the arms of different operators, and facilitates the storage of the hand-held magnetic control device 20. In this embodiment, the second connecting rod 2232 and the first connecting rod 2231 may have the same or similar arrangement.

In some examples, the gripping mechanism 22 may be disposed below the main body 21. In other examples, the gripping mechanism 22 may be disposed above the main body 21 (see fig. 7). In the embodiment shown in fig. 7, the holding mechanism 22 may be disposed above the main body 21, and an end portion of the handle 221 may protrude outward in a radial direction, thereby facilitating holding.

In addition, in the embodiment shown in fig. 7, the handle 221 may be configured to be telescopic in the vertical direction, for example, the handle 221 may be formed by combining two sections of a first cylinder 221a and a second cylinder 221b with different diameters, the first cylinder 221a may have a cavity and the inner diameter of the cavity matches the outer diameter of the second cylinder 221b, and the second cylinder 221b may be movably disposed in the cavity of the first cylinder 221 a. In this case, by the relative movement between the second cylinder 221b and the first cylinder 221a, a handle 221 with adjustable length can be provided, thereby facilitating the operation of the handheld magnetic control device 20 by doctors with different heights. In this embodiment, the fixing portion 224 may also have the same or similar arrangement as the handle 221, i.e. adjustable in length.

In some scenarios, the examination bed on which the subject lies has a fixed height, for example, a lower height, and for a doctor with a high height, the doctor may perform a squat action or a bending action to bring the main body 21 of the hand-held magnetic control device 20 close to the subject. In this case, with the embodiment shown in fig. 7, a doctor of a relatively high height can reduce the squat or stooping action during examination by the handle 221 of a relatively large length.

In some examples, the handheld magnetron 20 may also include a communication device, such as bluetooth, WIFI, USB, etc. (not shown), through which data transmission can be made with the capsule endoscope 10. In some examples, the handheld magnetron 20 can also include a memory device (not shown) by which data transmitted by the capsule endoscope 10 can be stored.

In some examples, the handheld magnetron apparatus 20 can also include a display device 23 (see fig. 3). In some examples, the display device 23 may display the orientation of the internal magnet 14 relative to the hand-held magnetron 20, and thus the orientation of the capsule endoscope 10 relative to the hand-held magnetron 20, based on the detection information of the internal magnet 14 by the magnetic sensor 214. In this case, a doctor or the like can easily observe the orientation of the capsule endoscope 10 with respect to the hand-held magnetron 20 through the display device 23, thereby facilitating the movement of the hand-held magnetron 20 to the vicinity of the capsule endoscope 10.

In some examples, display device 23 may display pose information of capsule endoscope 10 within tissue cavity 30. This allows the doctor to adjust the magnetic axis direction of the magnet 211 easily. In some examples, display device 23 may display data acquired by capsule endoscope 10 within tissue cavity 30, e.g., display device 23 may display image data taken by capsule endoscope 10 within tissue cavity 30.

In some examples, a doctor or the like may move the hand-held magnetron 20 to the vicinity of the capsule endoscope 10 depending on the orientation of the capsule endoscope 10 as displayed by the display device 23. And a doctor or the like can input a control command through the input device 2131 based on the posture information of the capsule endoscope 10 displayed on the display device 23 to cause the magnetron portion 213 to control the drive mechanism 212 to drive the magnet 211 to rotate, for example, to control the first drive portion 2121 to cause the magnet 211 to rotate along the first axis a₁Rotation is performed to adjust the attitude of the capsule endoscope 10 within the tissue cavity 30.

In this embodiment, the tissue cavity 30 may be a digestive lumen such as a gastric lumen, a large intestinal lumen, a small intestinal lumen, or the like. Additionally, in some examples, tissue cavity 30 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., the capsule endoscope 10 may be swallowed to access the digestive lumen, and for non-digestive lumens, a physician, etc. may open a minimally invasive opening through a clinical procedure to place the capsule endoscope 10 in the non-digestive lumen.

FIG. 8 is a schematic diagram illustrating a hand-held magnetically controlled device 20 according to an example of the present disclosure controlling movement of a capsule endoscope 10 within a tissue cavity 30. The following describes the control of the movement of the capsule endoscope 10 in the stomach cavity by the hand-held magnetic control device 20, taking the stomach cavity as an example, with reference to fig. 8.

In some examples, as shown in fig. 8, controlling the movement of the capsule endoscope 10 within the gastric cavity by the handheld magnetron 20 may include the steps of:

first, the subject performs pre-examination preparation under the direction of the doctor, and introduces the capsule endoscope 10 into the stomach cavity. In some examples, the subject may swallow an appropriate amount of liquid and lie down on the examination bed, and then, the subject may introduce the capsule endoscope 10 into the stomach cavity by swallowing (step S100).

The doctor can then detect the general orientation of the capsule endoscope 10 via the magnetic sensor 214 and move the hand held magnetron 20 into the vicinity of the capsule endoscope 10. In some examples, the orientation of the capsule endoscope 10 may be displayed on the display device 23. In some examples, a doctor or the like may move the hand-held magnetron 20 to a position directly above and adjacent to the capsule endoscope 10. (S200).

Then, the doctor can adjust the magnetic axis direction of the magnet 211 to adjust the magnetic force acting on the internal magnet 14, thereby adjusting the posture of the capsule endoscope 10 in the tissue cavity 30. In some examples, a physician or the like can input control instructions via the input device 2131 to cause the magnet control portion 213 to control the drive mechanism 212, e.g., to control the first drive portion 2121 to drive the magnet 211 along the first axis a₁The capsule endoscope 10 is rotated to adjust the posture in the tissue cavity 30 (step S300).

Finally, the capsule endoscope 10 performs image capturing at a specific position in an appropriate posture, and transmits the captured image to the hand-held magnetron device 20 (step S400).

According to the present disclosure, a hand-held magnetron 20 can be provided that is easy to operate, and the surgeon can precisely control the movement of the capsule endoscope 10 within the tissue cavity 30 via the hand-held magnetron 20.

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.

Claims

1. A hand-held magnetic control device of a capsule endoscope having a built-in magnet and a collecting device, the capsule endoscope being introduced into a subject and collecting data in a tissue cavity of the subject by the collecting device,

the hand-held magnetic control device comprises:

a main body including a magnet, a driving mechanism that drives the magnet to rotate, a magnetic control section that controls the driving mechanism and has an input device for inputting a control instruction, and a magnetic sensor that detects a built-in magnet of the capsule endoscope;

a gripping mechanism having a handle provided to the main body for gripping and an arm rest for supporting an arm; and

a display device that displays the orientation of the capsule endoscope based on the detection information of the magnetic sensor,

wherein the main body has an examination surface facing a subject, the magnetic control section is configured to control the drive mechanism to adjust a magnetic axis direction of the magnet and form an angle with the examination surface in accordance with an orientation of the capsule endoscope and the control instruction,

the handle and the input device are configured such that the input device is disposed at or near the handle, and an operator can simultaneously hold the handle and operate the input device with a single hand,

the handle and the arm support are configured such that an operator can form a lever structure with the body using the handle as a fulcrum and the arm support as a point of application of force, or using the arm support as a fulcrum and the handle as a point of application of force, in order to move the body.

2. The hand-held magnetically controlled apparatus as claimed in claim 1,

the holding mechanism further comprises a telescopic connecting rod for connecting the handle and the arm support.

3. The hand-held magnetically controlled apparatus as claimed in claim 1,

the driving mechanism comprises a first driving part and a second driving part, the first driving part drives the magnet to rotate along a first axis, and the second driving part drives the magnet to rotate along a second axis.

4. The hand-held magnetically controlled apparatus as claimed in claim 3,

the first axis is perpendicular to the second axis.

5. The hand-held magnetically controlled apparatus as claimed in claim 1,

the handle is long-strip-shaped, and an included angle between the length direction of the handle and a connecting line of the handle and the arm support is not less than 45 degrees.

6. The hand-held magnetically controlled apparatus as claimed in claim 1,

the magnetic sensor is configured to detect a magnetic field of a built-in magnet of the capsule endoscope in a three-dimensional direction to detect an orientation of the built-in magnet, thereby detecting the orientation of the capsule endoscope.

7. The hand-held magnetically controlled apparatus as claimed in claim 1,

the magnet is a spherical, ellipsoidal or cylindrical permanent magnet.

8. The hand-held magnetically controlled apparatus as claimed in claim 1,

the magnetic sensor and the magnet have a predetermined relative position.

9. The hand-held magnetically controlled device of claim 1,

the input device is a button or a touch pad.

10. The hand-held magnetically controlled device of claim 1,

the display device is also used for displaying the data collected by the capsule endoscope.