CN114305297B - Magnetic control capsule endoscope system - Google Patents
Magnetic control capsule endoscope system Download PDFInfo
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- CN114305297B CN114305297B CN202111048503.2A CN202111048503A CN114305297B CN 114305297 B CN114305297 B CN 114305297B CN 202111048503 A CN202111048503 A CN 202111048503A CN 114305297 B CN114305297 B CN 114305297B
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Abstract
The invention discloses a magnetic control capsule endoscope system, comprising: the capsule endoscope, the magnetic control equipment and the control terminal; the magnetic control equipment comprises a first magnet and a robot arm; the capsule endoscope comprises a second magnet; the control terminal determines a first control instruction according to the body position information of the examinee, the position information of the examinee and an image recognition result, and the magnetic control equipment controls the first magnet to move through the robot arm according to the first control instruction so as to drive the capsule endoscope to move, so that the position and/or the posture of the capsule endoscope are changed to complete image acquisition of a target part of the examinee. The magnetic control capsule endoscope system can automatically control the capsule endoscope to finish image acquisition work on a target part, and improves effectiveness and efficiency of controlling the capsule endoscope.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a magnetic control capsule endoscope system.
Background
The passive inspection mode of the capsule endoscope has the defect of high missing inspection risk, a magnetically controlled capsule endoscope system capable of realizing active control appears on the market, in the existing magnetically controlled capsule endoscope system, an operator manually controls the second magnet in the magnetically controlled equipment to move and rotate according to experience, and then drives the capsule endoscope provided with the first magnet to move and rotate, however, the control method has the defects of poor control effect and low control efficiency on the capsule endoscope and the like; on the other hand, after the examination is finished, thousands to tens of thousands of images are shot by the capsule endoscope, and the manual film reading mode is low in efficiency.
Disclosure of Invention
In order to solve at least one of the above technical problems in the prior art, the present invention provides a magnetically controlled capsule endoscope system, which aims to automatically control a capsule endoscope to scan a target region, and improve effectiveness and efficiency of controlling the capsule endoscope.
The embodiment of the invention provides a magnetic control capsule endoscope system, which comprises: the capsule endoscope comprises a capsule endoscope, a magnetic control device and a control terminal, wherein the magnetic control device is in wireless or wired connection with the control terminal and comprises a first magnet and a robot arm;
the capsule endoscope comprises a second magnet, and is used for acquiring image data of a plurality of target parts of a detected object;
the control terminal is used for determining a first control instruction according to the body position information of the examinee, the position information of the examinee and the image recognition result;
the magnetic control equipment is used for receiving the first control instruction of the control terminal and controlling the first magnet to move through the robot arm according to the first control instruction, so that the capsule endoscope is driven to move, and the position and/or the posture of the capsule endoscope are/is changed.
In some embodiments, the capsule endoscope further comprises a magnetic field detection module for acquiring magnetic field strength data B of the first magnet;
the control terminal is further used for determining the first control instruction according to the magnetic field intensity data B.
In some embodiments, the magnetron capsule endoscopic system further comprises a couch for changing a posture of the subject.
In some embodiments, the magnetically controlled capsule endoscopic system further comprises a voice module for prompting the subject to change body position;
the change sequence of the body positions is a first supine position and a left side position in sequence;
or the change sequence of the body positions is a first supine position, a left side position and a second supine position in sequence;
or the change sequence of the body positions is the first supine position, the left side position and the right side position in sequence.
In some embodiments, the robotic arm controls the first magnet to move and/or rotate on the subject's upper left abdomen when the subject is in the first supine position;
the robotic arm controls the first magnet to move and/or rotate on the back of the subject when the subject is in the left position;
the robotic arm controls the first magnet to move and/or rotate around the subject's umbilicus when the subject is in the second supine or right lateral position.
In some embodiments, the robotic arm controls the first magnet to move toward the subject's body at an initial pose, when the first magnet hovers over or alongside the subject's body at the initial pose, to cause the capsule endoscope to view one or more of the target sites.
In some embodiments, the robotic arm is configured to control the first magnet to rotate according to a preset stepping angle, so that the capsule endoscope rotates at the preset stepping angle to complete the image data acquisition of all the target sites in corresponding body positions.
In some embodiments, the magnetically controlled capsule endoscopic system further comprises a camera device for acquiring a human body image of the subject;
the control terminal is used for extracting pixel points of all joints of a human body according to the human body image, extracting skeleton key nodes according to the pixel points of all joints of the human body, and identifying the posture information of the examinee according to the skeleton key nodes;
the control terminal is used for extracting human body point cloud data according to the human body image and determining the position information of the detected person according to the human body point cloud data.
In some embodiments, the camera device further comprises a depth information acquisition module, wherein the depth information acquisition module is used for acquiring depth data of each joint part of the human body of the examinee;
the control terminal is used for determining the distance between the body surface of the detected person and the first magnet according to the depth data of each joint part of the human body;
the control terminal is used for determining the position and/or posture information of the first magnet according to the distance and a preset safety distance so as to enable the first magnet not to touch the body of the examinee.
In some embodiments, the first magnet is provided with a pressure detection module for collecting a pressure value to which the first magnet is subjected;
and the control terminal is used for sending a second control instruction to the magnetic control equipment when the pressure value exceeds a preset pressure value, and the magnetic control equipment controls the robot arm to adjust the position and/or the posture of the first magnet according to the second control instruction.
In some embodiments, the capsule endoscope transmits the acquired image data of a plurality of the target sites to outside the body;
and the control terminal receives the image data, identifies a stomach part and/or a focus part according to the image data and generates an examination report.
In some embodiments, the control terminal is configured to compare the magnetic field strength data B with first preset magnetic field strength data B1 and second preset magnetic field strength data B2 respectively,
when B1 is larger than or equal to B2, determining that the capsule endoscope is in the effective control range of the first magnet; when B is less than B1, the control terminal generates a third control instruction and sends the third control instruction to the magnetic control equipment, so that the magnetic control equipment controls the first magnet to move and/or roll through the robot arm, so that the capsule endoscope moves and/or rolls, and B is more than or equal to B1 and less than or equal to B2;
and when B is larger than B2, the control terminal generates a fourth control instruction and sends the fourth control instruction to the magnetic control equipment, so that the magnetic control equipment controls the first magnet to be far away from the capsule endoscope through the robot arm, and B is larger than or equal to B1 and smaller than or equal to B2.
In some embodiments, the capsule endoscope comprises an inertial measurement module for acquiring a motion velocity and an angular velocity of the capsule endoscope;
and the control terminal determines the attitude information of the capsule endoscope according to the movement speed and the angular speed.
In some embodiments, the magnetically controlled capsule endoscope system further comprises an image recognition device, wherein the image recognition device is used for recognizing the image data through an AI model to obtain the image recognition result;
the image recognition device is used for sending the image recognition result to the control terminal.
The embodiment of the invention provides a magnetic control capsule endoscope system, which comprises: the capsule endoscope, the magnetic control equipment and the control terminal; the magnetic control equipment is in wireless or wired connection with the control terminal and comprises a first magnet and a robot arm; the capsule endoscope comprises a second magnet, and is used for acquiring image data of a plurality of target parts of a detected object; the control terminal determines a first control instruction according to the body position information of the examinee, the position information of the examinee and an image recognition result, and the magnetic control equipment controls the first magnet to move through the robot arm according to the first control instruction so as to drive the capsule endoscope to move, so that the position and/or the posture of the capsule endoscope are changed to complete image acquisition of a target part of the examinee. The magnetic control capsule endoscope system realizes automatic control of the capsule endoscope to scan a target part, and improves effectiveness and efficiency of control of the capsule endoscope.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention.
FIG. 1 is a schematic diagram of a magnetron capsule endoscope system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a capsule endoscope in an embodiment of the present invention;
fig. 3 is a schematic diagram of step cross-section scanning of the capsule endoscope according to & theta =45 ° in the embodiment of the invention;
fig. 4 is a schematic structural diagram of a control terminal in the embodiment of the present invention;
FIG. 5 is a schematic view of a capsule endoscope within the control range of a first magnet in an embodiment of the present invention;
FIG. 6 is a schematic view of a capsule endoscope being blocked from control by an obstacle in an embodiment of the present invention;
FIG. 7 is a flow chart of the operation of the magnetron capsule endoscope system in the embodiment of the invention.
Description of reference numerals:
the capsule endoscope comprises a capsule endoscope 1, a magnetic control device 2, a control terminal 3, a first magnet 201 and a robot arm 202.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a magnetically controlled capsule endoscope system, including: the capsule endoscope comprises a capsule endoscope 1, a magnetic control device 2 and a control terminal 3, wherein the magnetic control device 2 is in wireless or wired connection with the control terminal 3; the magnetic control device 2 comprises a first magnet 201 and a robot arm 202; the capsule endoscope 1 comprises a second magnet and the capsule endoscope 1 is used for acquiring image data of a plurality of target parts of a detected person; the control terminal 3 is used for determining a first control instruction according to the posture information of the examinee, the position information of the examinee and the image recognition result; the magnetic control device 2 is configured to receive the first control instruction of the control terminal 3, and control the first magnet 201 to move through the robot arm 202 according to the first control instruction, so as to drive the capsule endoscope 1 to move, so that the position and/or posture of the capsule endoscope 1 is changed.
In particular, the capsule endoscope 1 is used for image data acquisition of the digestive tract of a subject, such as acquisition of image data of the esophagus, stomach and/or intestinal tract. The capsule endoscope 1 transmits the acquired image data to the magnetic control device 2 in a wireless mode, and the magnetic control device 2 receives the image data and transmits the image data to the control terminal 3 in a wireless or wired mode. In some embodiments, the capsule endoscope 1 may also transmit the acquired image data to a data transceiver outside the body in a wireless manner, and the data transceiver transmits the acquired image data to the control terminal 3 in a wireless or wired manner.
As shown in fig. 2, the capsule endoscope 1 includes a camera module, an image processing module, a power supply module, and a wireless control module. In an embodiment of the present invention, the capsule endoscope 1 further comprises a second magnet. The second magnet may be an electromagnet or a permanent magnet. The magnetron apparatus 2 comprises a first magnet 201 and a robot arm 202. The first magnet 201 may be an electromagnet or a permanent magnet. The robot arm 202 may be a robot arm having 5 or 6 rotation axes, which is not limited herein. The control terminal 3 is configured to determine the first control instruction according to the posture information of the subject, the position information of the subject, and the image recognition result. The posture information of the subject may be a supine position, a left position, a right position, a standing position, or a sitting position. The position information of the examinee is determined by using the coordinates of the base of the robot arm as a reference point. The image recognition result refers to an image recognition result obtained by recognizing image data acquired by the capsule endoscope through an AI (Artificial Intelligence) model, and the image recognition result may be, for example, a recognition result of one or more parts in 24 parts of the stomach, where the AI model may be a trained model obtained by training a model with a labeled characteristic part image by using a convolutional neural network or other machine learning methods, and meeting the accuracy requirement after training. The control terminal 3 may be, but is not limited to, various smart phones, tablet computers, notebook computers, desktop computers, and the like. The magnetic control device 2 is configured to receive a first control instruction of the control terminal 3, and control the first magnet 201 to move through the robot arm 202 according to the first control instruction, so as to drive the capsule endoscope 1 to move, so that the position and/or posture of the capsule endoscope 1 is changed. The magnetic control capsule endoscope system also comprises a wireless transceiver, the wireless transceiver receives the image data sent by the capsule endoscope 1, and the wireless transceiver sends the image data to the control terminal 3.
The embodiment of the invention provides a magnetic control capsule endoscope system, which comprises: the capsule endoscope comprises a capsule endoscope 1, a magnetic control device 2 and a control terminal 3; the control terminal 3 determines a first control instruction according to the body position information of the examinee, the position information of the examinee and the image recognition result, and the magnetic control device 2 controls the first magnet 201 to move through the robot arm 202 according to the first control instruction, so that the capsule endoscope 1 is driven to move, and the position and/or the posture of the capsule endoscope 1 are changed to complete image acquisition of the target part of the examinee. The magnetic control capsule endoscope 1 system realizes automatic control of the capsule endoscope 1 to scan a target part, does not need medical personnel to participate in the control process, and improves the effectiveness and efficiency of controlling the capsule endoscope 1.
In some embodiments, the capsule endoscope 1 further comprises a magnetic field detection module for acquiring magnetic field strength data B of the first magnet 201; the control terminal 3 is further configured to determine the first control instruction according to the magnetic field strength data B. The magnetic field detection module may be a magnetic sensor. The control terminal 3 determines the real-time position information of the capsule endoscope 1 according to the magnetic field intensity data B, and the controlled condition of the capsule endoscope 1 by the first magnet 201, so as to determine the first control instruction, thereby improving the effectiveness and efficiency of controlling the capsule endoscope 1.
In some embodiments, the magnetron capsule endoscope 1 system further comprises a bed for changing the posture of the subject.
Specifically, the examinee can lie on the examining table, and when the position of the examinee is adjusted by changing the position of the bed head and the bed tail of the examining table, for example, when the examining table is rotated by 180 degrees, the system starts the examining table to automatically rotate and turn around, the examination of a target part is completed, the examinee does not need to stand up to change the position, and the examining table is more convenient and fast.
In some embodiments, the magnetically controlled capsule endoscopic system further comprises a voice module for prompting the subject to change body position; the change sequence of the body positions is a first supine position and a left position in sequence; or the change sequence of the body positions is a first supine position, a left side position and a second supine position in sequence; or the change sequence of the body positions is the first supine position, the left side position and the right side position in sequence.
Specifically, the voice module may be a speaker such as a microphone, for example, and the voice module is configured to prompt the examinee to change the posture, for example, when the examination starts, the voice module prompts the examinee to lie down in the first supine position, when the system completes the examination of the examinee in the first supine position, the voice module prompts the examinee to shift to the left position, when the system completes the examination of the examinee in the left position, the control terminal 3 determines whether the examination is completed, and if the examination is completed, the control terminal ends; if the examination is not finished, the voice module prompts the examinee to change to a second supine position, and the first supine position and the second supine position can be the same body position; in some cases, such as insufficient water drinking by the subject in the second supine position, insufficient stomach filling or gastric body foam occlusion, the second supine position is replaced with the right position, so that the capsule endoscope 1 completes examination of all target portions of the stomach. In some embodiments, the examinee may also be in a standing position or a sitting position, and the control terminal 3 controls the first magnet 201 to move and/or rotate through the robot arm 202, so as to drive the capsule endoscope 1 to move and/or rotate and acquire image data of a target part.
In some embodiments, the magnetron capsule endoscope system controls the first magnet 201 to move and/or rotate on the upper left abdomen of the subject when the subject is in the first supine position during the examination of the subject; when the subject is in the left position, the robot arm 202 controls the first magnet 201 to move and/or rotate on the back of the subject; the robotic arm 202 controls the first magnet 201 to move and/or rotate around the subject's umbilicus when the subject is in the second supine or right lateral position.
Specifically, the capsule endoscope 1 is controlled to perform image data acquisition in different regions of the stomach of the subject in different body positions. For example, when the subject is in the first supine position, the robot arm 202 controls the first magnet 201 to move and/or rotate in the upper left abdomen of the subject, so that the capsule endoscope 1 can complete image data acquisition of target parts of the stomach, such as the fundus, cardia, anterior wall below cardia, posterior wall above stomach and upper lesser curvature of stomach; when the examinee is at the left side position, the robot arm 202 controls the first magnet 201 to move and/or rotate on the back of the examinee, and the capsule endoscope 1 finishes image data acquisition on target parts of the stomach, such as the anterior wall of the upper part of the stomach, the greater curvature of the upper part of the stomach, the anterior wall of the middle part of the stomach, the posterior wall of the middle part of the stomach, the greater curvature of the middle part of the stomach and the smaller curvature of the lower part of the stomach; when the examinee is in the second supine position or the right side position, the robot arm 202 controls the first magnet 201 to move and/or rotate around the navel of the examinee to complete image data acquisition of target portions of the stomach including the lower stomach portion front wall, the lower stomach portion rear wall, the lower stomach portion greater curvature, the lower stomach portion smaller curvature, the upper stomach sinus front wall, the lower stomach sinus rear wall, the greater stomach sinus curvature, the smaller stomach sinus curvature, the stomach angle front wall, the stomach angle rear wall, the pylorus, and the like by the capsule endoscope 1. In the above three body positions, the robot arm 202 controls the first magnet 201 to move and/or rotate in different areas of the body of the subject, so that the capsule endoscope 1 respectively performs image data acquisition on the above target parts of the stomach, thereby completing image data acquisition on all target parts of the stomach.
In some embodiments, the robotic arm 202 controls the first magnet 201 to move toward the subject's body at an initial pose, when the first magnet 201 hovers over or on the side of the subject's body at the initial pose, such that the capsule endoscope 1 observes the target site or sites. Specifically, for example, in a first supine position, a left position, a second supine position or a right position, the control terminal 3 sets in advance an initial posture of the first magnet 201 in the corresponding positions, and in each of the positions, the robot arm 202 controls the first magnet 201 to move toward the body of the subject in the corresponding initial posture, so that the capsule endoscope 1 observes the target portion or portions in the corresponding position when the first magnet 201 is suspended above (corresponding to the first supine position or the second supine position) or on the side (corresponding to the left position or the right position) of the body of the subject in the initial posture. One or more of the target sites are not limited, and may be any one or more target sites in the corresponding body position. In some cases, when the first magnet 201 is hovering above or beside the subject's body in the initial pose without seeing one or more target portions in the corresponding body position, the robot arm 202 controls the first magnet 201 to fine-tune the pose to bring about a change in the pose of the capsule endoscope 1, the capsule endoscope 1 performs cone scanning, and if one or more target portions are not yet seen, the robot arm 202 fine-tunes the position and pose of the first magnet 201 to bring about a change in the position and pose of the capsule endoscope 1, and the capsule endoscope 1 performs scanning again until one or more target portions are found.
In some embodiments, the robot arm 202 is configured to control the first magnet 201 to rotate according to a preset step angle, so that the capsule endoscope 1 rotates by the preset step angle to complete image data acquisition of all the target sites in corresponding body positions.
Specifically, the step angle of the first magnet 201 is preset, and the preset step angle may be set according to the inspection precision or the target portion dividing precision of the region to be inspected, for example, the preset step angle may be 15 °, 30 ° or 45 °, and the preset step angle is not limited herein. As shown in fig. 3, the robot arm 202 controls the first magnet 201 to rotate 360 ° in the cross section according to a preset step angle ═ θ =45 °, so as to drive the capsule endoscope 1 to perform cross section omnidirectional 360 ° scanning at the preset step angle and acquire image data of a target region, and when the capsule endoscope 1 completes 360 ° rotation in the cross section, sagittal plane, and coronal plane at the preset step angle, the image data acquisition of all the target regions in corresponding body positions is completed. In some embodiments, image data acquisition of the capsule in a corresponding body position may be more precisely controlled by position location and posture recognition of the capsule endoscope 1 in that body position.
As shown in fig. 4, in some embodiments, the control terminal 3 includes an image processing module, an image recognition module and a cruise control module, wherein the image processing module is configured to receive the image data collected by the capsule endoscope 1 and send the image data to the image recognition module; the image recognition module stores an AI model trained in advance, the image recognition module recognizes the image data through the AI model to obtain an image recognition result, the image recognition module sends the image recognition result to the cruise control module, and the cruise control module determines the first control instruction according to the magnetic field strength data B, the body position information of the examinee, the position information of the examinee and the image recognition result, so that the magnetic control device 2 controls the movement of the first magnet through the robot arm 202 according to the first control instruction to drive the capsule endoscope 1 to move, so that the position and/or posture of the capsule endoscope 1 are changed to complete the image data acquisition of one or more target parts. In some embodiments, the image recognition module further sends the image recognition result to the image processing module, and after the image recognition result is rendered, an image is displayed through a display device for a user to view.
In some embodiments, the magnetically controlled capsule endoscope system further comprises an image recognition device, wherein the image recognition device is used for recognizing the image data through an AI model to obtain the image recognition result; the image recognition device is used for sending the image recognition result to the control terminal. The image recognition device may be a cloud server, or may also be a near-end smart phone, a tablet computer, a notebook computer, a desktop computer, or the like, which is not limited herein.
In some embodiments, the magnetically controlled capsule endoscopic system further comprises a camera device for acquiring a human body image of the subject; the control terminal is used for extracting pixel points of all joint parts of a human body according to the human body image, extracting key skeleton nodes according to the pixel points of all joint parts of the human body, and identifying the body position information of the detected person according to the key skeleton nodes; the control terminal 3 is used for extracting human body point cloud data according to the human body image and determining the position information of the detected person according to the human body point cloud data. Specifically, the magnetic control capsule endoscope system further comprises a camera device, such as an RGB camera or a binocular camera, the RGB camera shoots a human body image of the examinee and sends the human body image to the control terminal 3, the control terminal 3 extracts pixel points of each joint part of the human body according to the human body image, extracts key bone nodes according to the pixel points of each joint part of the human body, and identifies the position information of the examinee according to the key bone nodes. The control terminal 3 is further configured to determine the human body point cloud data according to the human body image, where the human body point cloud data is (x, y, z) coordinates of each point of the human body, the (x, y, z) coordinates of each point are determined using a base center of the robot arm 202 as a reference point, the position information of the detected person can be determined according to the human body point cloud data, and then, the moving path of the first magnet 201 to a certain position on the surface of the human body can be obtained by combining the position information of the first magnet 201.
In some embodiments, the camera device further comprises a depth information acquisition module, wherein the depth information acquisition module is used for acquiring depth data of each joint part of the human body of the examinee; the control terminal 3 is used for determining the distance between the body surface of the detected person and the first magnet according to the depth data of each joint part of the human body; the control terminal 3 is configured to determine the position and/or posture information of the first magnet according to the distance and a preset safety distance, so that the first magnet 201 does not touch the body of the subject. Specifically, the depth data of each joint portion of the human body of the subject includes distance information between the imaging device and the body surface of the subject, and the control terminal 3 converts the distance information between the imaging device and the body surface of the subject into the distance between the first magnet and the body surface of the subject using the base center point of the robot arm 202 as a reference point. The control terminal 3 sets the coordinate information of the initial position and posture of the first magnet 201 according to a preset safe distance, so that the first magnet 201 does not touch the body of the examinee when the robot arm 202 is initialized; in the operation process, the camera device is used for determining the distance between the body surface of the subject and the first magnet 201, and the control terminal 3 is used for determining the position and/or posture information of the first magnet 201 according to the distance and a preset safety distance, so that the first magnet 201 does not touch the body of the subject, and prompts are given in a voice mode and the like, so as to ensure the personal safety of the subject.
In some embodiments, the first magnet 201 is provided with a pressure detection module for collecting a pressure value to which the first magnet 201 is subjected; the control terminal 3 is configured to send a second control instruction to the magnetic control device 2 when the pressure value exceeds a preset pressure value, and the magnetic control device 2 controls the robot arm 202 to adjust the position and/or the posture of the first magnet 201 according to the second control instruction.
Specifically, the pressure detection module may be a film pressure sensor or an optical sensor, the pressure sensor acquires a pressure value applied by the subject to the first magnet 201 in real time, the magnetic control device 2 sends the pressure value applied by the first magnet 201 to the control terminal 3, the control terminal 3 compares the pressure value applied by the first magnet 201 with a preset pressure value, when the pressure value applied by the first magnet 201 exceeds the preset pressure value, for example, when the pressure value F is greater than or equal to 5N, the preset pressure value is not limited herein, the control terminal 3 sends a second control instruction to the magnetic control device 2, and the magnetic control device 2 controls the robot arm 202 to adjust the position and/or posture of the first magnet 201 according to the second control instruction, so as to increase the distance between the first magnet 201 and the subject, so as to reduce the pressure applied by the first magnet 201 to the subject, thereby preventing discomfort caused by the first magnet 201 squeezing the subject. In some embodiments, as a protection mechanism, when an abnormal condition occurs, when the pressure value applied to the first magnet 201 exceeds a preset pressure value, the protection device may be activated, or the power may be cut off forcibly, so as to prevent the first magnet 201 from further pressing down, and protect the personal safety of the subject.
In some embodiments, the capsule endoscope 1 transmits the acquired image data of a plurality of the target sites to the outside of the body; the control terminal 3 receives the image data, identifies a stomach part and/or a focus part according to the image data, and generates an examination report.
Specifically, the capsule endoscope 1 may transmit the acquired image data of a plurality of target portions to an external data transceiver, the data transceiver transmits the image data to the control terminal 3, and the control terminal 3 receives the image data. For example, the image of each part of the stomach is used for training a first artificial intelligent model to obtain a trained first model, the focal image of each part of the stomach is used for training a second artificial intelligent model to obtain a trained second model, the control terminal 3 inputs the image data into the trained first model and the trained second model respectively to obtain a stomach part recognition result and a focal part recognition result respectively, and an examination report is generated according to the stomach part recognition result and/or the focal part recognition result and a template for medical staff to refer and confirm, so that the time cost is saved. In some embodiments, the control terminal 3 is configured to compare the magnetic field strength data B with first preset magnetic field strength data B1 and second preset magnetic field strength data B2, respectively, and determine that the capsule endoscope 1 is within the effective control range of the first magnet 201 when B1 is not less than B2; when B is less than B1, the control terminal 3 generates a third control instruction and sends the third control instruction to the robot arm 202, so that the robot arm 202 controls the first magnet 201 to move and/or roll, so that the capsule endoscope 1 moves and/or rolls, and B is greater than or equal to B1 and less than or equal to B2; when B is larger than B2, the control terminal 3 generates a fourth control instruction and sends the fourth control instruction to the robot arm 202, so that the robot arm 202 controls the first magnet 201 to be far away from the capsule endoscope 1, and B is larger than or equal to B1 and smaller than or equal to B2.
Specifically, in the automatic cruise process, that is, in the process of acquiring image data by the capsule endoscope 1, the capsule endoscope 1 acquires magnetic field strength data B of the first magnet 201 in real time and sends the magnetic field strength data B to the magnetic control device 2, the magnetic control device 2 sends the magnetic field strength data B to the control terminal 3, the control terminal 3 compares the magnetic field strength data B with first preset magnetic field strength data B1 and second preset magnetic field strength data B2, the first preset magnetic field strength data B1 and the second preset magnetic field strength data B2 may be empirical data or obtained through experiments, and B1 is not less than B2; when B1 is larger than or equal to B2, the capsule endoscope 1 is determined to be within the effective control range of the first magnet 201, and the control is normal, so that the position relation of the capsule endoscope 1 relative to the first magnet 201 is obtained, namely the capsule endoscope 1 is below the first magnet 201, as shown in FIG. 5; when B < B1, it indicates that the capsule endoscope 1 is not within the control range of the first magnet 201, and the capsule endoscope 1 may be blocked by an obstacle in the stomach, as shown in fig. 6, it is necessary that the first magnet 201 returns to the original position, and the capsule endoscope 1 rolls over and gets over the obstacle by rolling over of the first magnet 201, so that the control terminal 3 generates a third control command and sends the third control command to the robot arm 202, so that the robot arm 202 controls the first magnet 201 to roll over, so as to roll over the capsule endoscope 1; when B < B1, the capsule endoscope 1 may be far from the first magnet 201 and not within the control range of the first magnet 201, and at this time, the distance between the capsule endoscope 1 and the first magnet 201 needs to be shortened, so the control terminal 3 generates a third control instruction and sends the third control instruction to the robot arm 202, so that the robot arm 202 controls the first magnet 201 to move and roll, so that the capsule endoscope 1 moves and rolls, and the capsule endoscope returns to be controlled again, that is, B1 is greater than or equal to B2; when B > B2, it indicates that the distance between the capsule endoscope 1 and the first magnet 201 is short, and the first magnet 201 can be appropriately far away from the capsule endoscope 1, so the control terminal 3 generates a fourth control instruction and transmits the fourth control instruction to the robot arm 202, so that the robot arm 202 controls the first magnet 201 to be far away from the capsule endoscope 1, so that B1 is greater than or equal to B2. In some embodiments, the capsule endoscope 1 comprises an inertial measurement module for acquiring the speed of movement and angular velocity of the capsule endoscope 1; and the control terminal 3 determines the posture information of the capsule endoscope 1 according to the movement speed and the angular speed.
Specifically, the inertial measurement module may be an inertial sensor, the inertial measurement module acquires the motion speed and the angular speed of the capsule endoscope 1 in real time, the capsule endoscope 1 sends the acquired real-time motion speed and the acquired angular speed to the magnetic control device 2, the magnetic control device 2 sends the motion speed and the angular speed of the capsule endoscope 1 to the control terminal 3, the control terminal 3 determines the angle information of the capsule endoscope 1 according to the motion speed and the angular speed of the capsule endoscope 1, and then the attitude information of the capsule endoscope 1 relative to the first magnet 201 can be obtained according to the attitude information of the first magnet 201.
In some embodiments, according to the position information and the posture information of the capsule endoscope 1 determined in the above embodiments, the image acquisition of the capsule endoscope 1 at each target site such as the stomach can be controlled more precisely. In some embodiments, the magnetically controlled capsule endoscope system further comprises an activator for activating the power module of the capsule endoscope 1 to power other respective functional modules.
As shown in fig. 7, the operation flow of the magnetron capsule endoscope system is exemplified below, and it is understood that the lower flow is only one operation flow of the magnetron capsule endoscope system, and the magnetron capsule endoscope system may be other operation flows, and is not limited herein.
S01: the subject swallows the capsule endoscope;
s02: the voice device prompts the subject for posture preparation, such as lying down on the examination bed in a first supine position;
s03: starting a camera module to acquire an image of a detected person and sending the image to the control terminal;
s04: the control terminal identifies the body position of the examinee and determines the position information of the examinee according to the image of the examinee;
s05: the control terminal judges whether the body position of the detected person is correct, wherein correct means whether the body position is the body position set by the control terminal, for example, the body position of the patient when lying down for the first time is a first supine position, then the conversion sequence of the body position is changed from the first supine position to a left position, and then the left position is changed to a second supine position, and if the judgment result is correct, the step S06 is executed; if the judgment result is wrong, executing step S02;
s06: the camera module detects the distance between the body surface of the examinee and the first magnet, so that the distance exceeds a preset safety distance and the first magnet is prevented from being extruded to the examinee in the moving process;
s07: a robotic arm controls a first magnet to move toward the subject's body at an initial pose;
s08: the control terminal receives magnetic field intensity data B of a first magnet collected by the capsule endoscope;
s09: the control terminal determines the position and the posture of the capsule endoscope according to the magnetic field intensity data B and the initial posture of the first magnet;
s10: the control terminal determines a control instruction according to the position and the posture of the capsule endoscope, the body position of the examinee, the position information of the examinee and the image recognition result, and sends the control instruction to the magnetic control equipment;
s11: the magnetic control equipment controls the robot arm to adjust the position and/or the posture of the first magnet according to the control instruction;
s12: the control terminal judges whether the capsule endoscope is controlled according to the magnetic field intensity data B of the first magnet collected by the capsule endoscope, and if the capsule endoscope is controlled, the step S13 is executed; if not, executing step S10;
s13: the capsule endoscope is controlled to move, acquires image data of each target part and magnetic field intensity data of the first magnet, and sends the image data and the magnetic field intensity data to the outside of the body;
s14: the control terminal judges whether the check is finished, namely whether the check under all the body positions is finished, if so, the step S15 is executed; if not, executing S02;
s15: AI intelligent reading, specifically, the control terminal identifies the image data by adopting an AI model, and identifies a stomach part and/or a focus part;
s16: the doctor confirms, in particular to confirm whether the reading result is correct;
s17: the control terminal generates an inspection report.
In the magnetic control capsule endoscope 1 system provided by the embodiment of the invention, the control terminal 3 controls the first magnet 201 to move and/or rotate through the robot arm 202 to drive the capsule endoscope 1 to move and/or rotate so as to complete the examination of all target parts, so that the effectiveness and efficiency of controlling the capsule endoscope 1 are improved; a diagnosis report is generated according to the image recognition result and the focus recognition result, so that the labor cost is greatly retrieved; and the robot arm 202 controls the first magnet 201 to move and/or rotate to drive the capsule endoscope 1 to move and/or rotate, compared with the traditional magnetic control device 2, the magnetic control device 2 in the embodiment of the invention has the advantages of small size, light weight, small floor area, convenience in transportation and installation, and more contribution to popularization and application of the magnetic control capsule endoscope 1 in the market. Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (14)
1. A magnetically controlled capsule endoscopic system, comprising: the capsule endoscope comprises a capsule endoscope, magnetic control equipment and a control terminal, wherein the magnetic control equipment is in wireless or wired connection with the control terminal and comprises a first magnet and a robot arm, and the robot arm is provided with 5 or 6 rotating shafts;
the capsule endoscope comprises a second magnet, and is used for acquiring image data of a plurality of target parts of a detected object;
the control terminal is used for determining a first control instruction according to the body position information of the examinee, the position information of the examinee and the image recognition result;
the magnetic control equipment is used for receiving the first control instruction of the control terminal and controlling the first magnet to move through the robot arm according to the first control instruction so as to drive the capsule endoscope to move and change the position and/or the posture of the capsule endoscope;
when the subject is in a first supine position, the robotic arm controls the first magnet to move and/or rotate in the subject's upper left abdomen to cause the capsule endoscope to complete image data acquisition of the stomach including the fundus, cardia, anterior lower cardia wall, posterior upper body wall, and lesser upper curvature of the stomach;
when the subject is at the left side, the robot arm controls the first magnet to move and/or rotate on the back of the subject, so that the capsule endoscope completes image data acquisition on the stomach, wherein the image data acquisition comprises the upper stomach front wall, the upper stomach large curve, the middle stomach front wall, the middle stomach rear wall, the middle stomach large curve and the lower stomach small curve;
when the examinee is in the second supine position or the right side position, the robot arm controls the first magnet to be moved and/or rotated around the navel of the examinee, so that the capsule endoscope completes acquisition of image data of the stomach including the lower stomach body front wall, the lower stomach body rear wall, the lower stomach body greater curvature, the lower stomach body smaller curvature, the antrum front wall, the antrum rear wall, the greater antrum curvature, the smaller antrum curvature, the angle of the stomach front wall, the angle of the stomach rear wall, and the pylorus.
2. The magnetically controlled capsule endoscopic system of claim 1, wherein said capsule endoscope further comprises a magnetic field detection module for acquiring magnetic field strength data B of said first magnet;
the control terminal is further used for determining the first control instruction according to the magnetic field intensity data B.
3. The magnetically controlled capsule endoscopic system of claim 1, further comprising a couch for changing a posture of said subject.
4. The magnetically controlled capsule endoscopic system of claim 2, further comprising a voice module for prompting the subject to change body position;
the change sequence of the body positions is a first supine position and a left side position in sequence;
or the change sequence of the body positions is a first supine position, a left side position and a second supine position in sequence;
or the change sequence of the body positions is the first supine position, the left side position and the right side position in sequence.
5. The magnetically controlled capsule endoscopic system of claim 4, wherein said robotic arm controls said first magnet to move and/or rotate on the subject's upper left abdomen when said subject is in said first supine position;
the robotic arm controls the first magnet to move and/or rotate on the back of the subject when the subject is in the left position;
the robotic arm controls the first magnet to move and/or rotate around the subject's umbilicus when the subject is in the second supine or right lateral position.
6. The magnetically controlled capsule endoscopic system of claim 1, wherein said robotic arm controls said first magnet to move toward the subject's body in an initial pose, when said first magnet hovers over or alongside the subject's body in said initial pose, to cause said capsule endoscope to view one or more of said target sites.
7. The magnetically controlled capsule endoscopic system of claim 1, wherein said robotic arm is configured to control said first magnet to rotate according to a preset step angle, such that said capsule endoscope rotates at said preset step angle to complete said image data acquisition of all said target sites in corresponding body positions.
8. The magnetron capsule endoscopic system of claim 1, further comprising a camera device for acquiring a body image of the subject;
the control terminal is used for extracting pixel points of all joint parts of a human body according to the human body image, extracting key skeleton nodes according to the pixel points of all joint parts of the human body, and identifying the body position information of the detected person according to the key skeleton nodes;
the control terminal is used for extracting human body point cloud data according to the human body image and determining the position information of the detected person according to the human body point cloud data.
9. The magnetically controlled capsule endoscopic system of claim 8, wherein said camera device further comprises a depth information acquisition module for acquiring depth data of each joint portion of the human body of said subject;
the control terminal is used for determining the distance between the body surface of the detected person and the first magnet according to the depth data of each joint part of the human body;
the control terminal is used for determining the position and/or posture information of the first magnet according to the distance and a preset safety distance so as to enable the first magnet not to touch the body of the examinee.
10. The magnetically controlled capsule endoscopic system of claim 1, wherein said first magnet is provided with a pressure detection module for collecting a pressure value to which said first magnet is subjected; and the control terminal is used for sending a second control instruction to the magnetic control equipment when the pressure value exceeds a preset pressure value, and the magnetic control equipment controls the robot arm to adjust the position and/or the posture of the first magnet according to the second control instruction.
11. The magnetically controlled capsule endoscopic system of claim 1, wherein said capsule endoscope transmits said acquired image data of a plurality of said target sites to outside the body;
and the control terminal receives the image data, identifies a stomach part and/or a focus part according to the image data and generates an examination report.
12. The magnetically controlled capsule endoscopic system of claim 2, wherein said control terminal is configured to compare said magnetic field strength data B with a first preset magnetic field strength data B1 and a second preset magnetic field strength data B2,
when B1 is larger than or equal to B2, determining that the capsule endoscope is in the effective control range of the first magnet;
when B is less than B1, the control terminal generates a third control instruction and sends the third control instruction to the magnetic control equipment, so that the magnetic control equipment controls the first magnet to move and/or roll through the robot arm, so that the capsule endoscope moves and/or rolls, and B is greater than or equal to B1 and less than or equal to B2;
and when B is greater than B2, the control terminal generates a fourth control instruction and sends the fourth control instruction to the magnetic control equipment, so that the magnetic control equipment controls the first magnet to be far away from the capsule endoscope through the robot arm, and B is greater than or equal to B1 and less than or equal to B2.
13. The magnetically controlled capsule endoscopic system of claim 2, wherein said capsule endoscope comprises an inertial measurement module for acquiring a motion velocity and an angular velocity of said capsule endoscope;
and the control terminal determines the attitude information of the capsule endoscope according to the movement speed and the angular speed.
14. The magnetically controlled capsule endoscopic system of claim 1, further comprising an image recognition device for recognizing said image data by an AI model, resulting in said image recognition result;
the image recognition device is used for sending the image recognition result to the control terminal.
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