CN116458829A - Capsule endoscope with auto-collimation posture adjustment function - Google Patents
Capsule endoscope with auto-collimation posture adjustment function Download PDFInfo
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- CN116458829A CN116458829A CN202310329328.7A CN202310329328A CN116458829A CN 116458829 A CN116458829 A CN 116458829A CN 202310329328 A CN202310329328 A CN 202310329328A CN 116458829 A CN116458829 A CN 116458829A
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- 239000002775 capsule Substances 0.000 title claims abstract description 138
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 13
- 210000002784 stomach Anatomy 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005192 partition Methods 0.000 claims description 4
- VQAPWLAUGBBGJI-UHFFFAOYSA-N [B].[Fe].[Rb] Chemical compound [B].[Fe].[Rb] VQAPWLAUGBBGJI-UHFFFAOYSA-N 0.000 claims description 2
- 239000000696 magnetic material Substances 0.000 claims description 2
- 230000005415 magnetization Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 239000012780 transparent material Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 230000008859 change Effects 0.000 description 5
- 210000001035 gastrointestinal tract Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000036407 pain Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009982 effect on human Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000002575 gastroscopy Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 231100000989 no adverse effect Toxicity 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
- 238000002627 tracheal intubation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
Abstract
The invention provides a capsule endoscope with an auto-collimation posture adjusting function, which comprises a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet. The invention avoids the problem of magnetic force and magnetic moment coupling by respectively controlling the space position and the gesture deflection of the capsule endoscope. The universal rotating module designed by the invention is matched with the control method of auto-collimation posture adjustment, so that the posture deflection precision of the capsule endoscope is directly determined by the control precision of the motor, and the capsule endoscope has the advantages of simplicity and convenience in control and high precision. The spatial position control method provided by the invention enables the horizontal position of the capsule endoscope to be directly determined by the central position of the magnetic field, has high control precision, and greatly reduces the control difficulty of the vertical position.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a capsule endoscope with an auto-collimation posture adjusting function.
Background
At present, a capsule endoscope is used for performing routine examination on human digestive tracts, and is an advanced examination means in the market. Compared with the traditional gastroscopy, the capsule endoscope has the advantages of no need of anesthesia, no need of intubation, no pain and no wound, no risk of cross infection and the like, and can greatly relieve the pain of patients.
When the capsule endoscope is inspected, an external control system is required to adjust the position and posture of the capsule endoscope to take a gastric wall image for diagnostic analysis. The magnetic control capsule endoscope is a mode of active control of the capsule endoscope, and changes the magnetic field distribution in space by changing the azimuth and the gesture of a magnet outside a human body, so that the capsule endoscope containing a permanent magnet is driven to change the gesture, and is a commonly used control means at present.
However, the current magnetic control capsule endoscope is very complex in control and has limited control precision. Because the external magnetic field has coupling effect on the magnetic force and the magnetic moment of the capsule endoscope, the magnetic moment of the capsule can be changed while the magnetic force is changed, so that the difficulty in controlling the position and the posture of the capsule is greatly increased. Meanwhile, in order to realize closed-loop control of the capsule endoscope in a suspension state, a plurality of magnetic sources (generally a combination of a permanent magnet and an electromagnetic coil) are generally required to be used on an external device, and pose information of the capsule endoscope is obtained by utilizing technologies such as magnetic sensing and positioning, so that effective control is performed. Under multiple magnetic sources, the control difficulty of the capsule endoscope is higher, and meanwhile, the obtained pose information of the capsule endoscope is limited in accuracy and has the problem of delay correction, so that the control accuracy is difficult to achieve.
CN201310133128.0 discloses a capsule robot for digestive tract endoscopy, comprising a capsule shell, a built-in permanent magnet arranged inside the capsule shell, a gear transmission mechanism, an image acquisition unit, and a rotary leg which can extend out of the capsule shell; wherein the built-in permanent magnet can rotate under the drive of the external permanent magnet; the input end of the gear transmission mechanism is connected with the built-in permanent magnet and is used for converting rotary motion into rotary motion around the main axis of the capsule robot, and the output end of the gear transmission mechanism and the rotary legs form a moving pair and are used for driving the rotary legs to change the length of the rotary legs extending out of the capsule shell; the image acquisition unit is used for shooting a detected part and sending the shot image to the image receiving processing device, thereby executing an endoscopic process. A corresponding motion control system is also disclosed. The invention can flexibly execute the active control process of the capsule endoscope, and has the characteristics of active walking, executable intestinal expansion, long-lasting driving force supply and the like.
CN201610254857.5 discloses a capsule endoscope control system, comprising: the capsule endoscope is used for collecting the alimentary canal information of the person to be tested, and a permanent magnet is arranged in the capsule endoscope; a capsule control device for controlling the movement of the capsule endoscope by the permanent magnet; and the control terminal is used for receiving and displaying the digestive tract information and the position information of the capsule endoscope and controlling the operation of the capsule control equipment. After the capsule endoscope is controlled to move to the first position to be detected by the capsule control equipment, the detected alimentary canal information of the first position to be detected can be sent to the control terminal and displayed by the capsule endoscope, so that medical staff can clearly observe the alimentary canal condition of a person to be detected. And then moving the capsule endoscope to a second position to be detected for detection, and sending digestive tract information to the control terminal, so that all the positions to be detected can be detected, wherein the control terminal can also display the position of the capsule endoscope, thereby controlling the movement of the capsule endoscope more accurately and conveniently.
Disclosure of Invention
In order to solve the above-mentioned drawbacks of the prior art, the present invention aims to: the capsule endoscope with the auto-collimation posture adjustment function is capable of avoiding the problem of coupling of magnetic force and magnetic moment by controlling the spatial position and posture deflection of the capsule endoscope respectively.
Still another object of the present invention is: a control method of the capsule endoscope with the auto-collimation posture adjustment is provided.
The invention aims at realizing the following scheme: the capsule endoscope with the auto-collimation posture adjusted comprises a capsule shell, wherein the capsule shell comprises a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet, the magnetic pole orientation of the permanent magnet always keeps consistent with the direction of an external magnetic field under the action of the external magnetic field,
the camera module is used for shooting stomach wall images;
the wireless communication module is used for receiving and sending image information;
the main control module is used as a control center of the capsule endoscope and respectively controls the working states of the camera module and the universal rotation module according to parameter instructions of an external upper computer;
the battery module is responsible for giving a camera module, a wireless communication module, a main control module and a universal rotation module;
the permanent magnet is used for controlling the position and the posture in cooperation with the external magnetic field;
the universal rotation module is characterized in that the transmission piece is driven by the micro motor to control the magnetic pole deflection of the permanent magnet, and the magnetic force and the magnetic moment coupling are avoided by respectively controlling the space position and the gesture deflection of the capsule endoscope.
The capsule endoscope has the advantages of simple and convenient control and high control precision.
In one embodiment of the present invention, a capsule endoscope is provided, the capsule endoscope comprising a capsule housing; the camera module is arranged in the capsule shell and is used for shooting stomach wall images; the wireless communication module is arranged in the capsule shell and is used for receiving and sending information; the main control module is arranged in the capsule shell and is a control center of the capsule endoscope; the battery module is arranged in the capsule shell and used for providing energy and power; the permanent magnet is arranged in the capsule shell and is used for controlling the position and the posture in cooperation with an external magnetic field; and the universal rotation module is arranged in the capsule shell and used for controlling the magnetic pole deflection of the permanent magnet.
Further, the universal rotation module comprises a first micro motor, a second micro motor, a first synchronous belt, a second synchronous belt, a first rotation shaft, a second rotation shaft, a third rotation shaft, a bevel gear set, a first rotation sleeve ring and a second rotation sleeve ring. The first micro motor drives the first rotating shaft to rotate through the first synchronous belt, and the first rotating shaft is fixedly connected with the first rotating lantern ring and can drive the first rotating lantern ring to rotate together. The second micro motor drives the second rotating shaft to rotate through the second synchronous belt. The second rotating shaft is hinged with the first rotating collar, and the movement of the first rotating collar is not affected. The bevel gear set includes a drive bevel gear and a driven bevel gear. The drive bevel gear is fixedly connected with the second rotating shaft and can synchronously rotate along with the second rotating shaft. The driven bevel gear and the driving bevel gear are meshed through gears and can rotate in a matched mode. The third rotating shaft is fixedly connected with the driven bevel gear, and rotates around the axis when driven by the driven bevel gear. The third rotating shaft is connected with the first rotating collar through a shaft hole, and the third rotating shaft can revolve around the axis of the first rotating shaft along with the first rotating collar. The outer part of the second rotary sleeve ring is fixedly connected with the third rotary shaft, and the inner part of the second rotary sleeve ring is fixedly connected with the permanent magnet.
Further, the first micro motor and the second micro motor are matched through rotating speeds, and the permanent magnet can be driven to rotate around a first axis and a second axis.
Further, the first rotating shaft and the second rotating shaft are assembled in a centering way along the axial direction, and the axes of the first rotating shaft and the second rotating shaft are coincident with the first axis.
Further, the second axis coincides with the axis of the third rotation shaft and is always perpendicular to the first axis. The second axis is rotatable about the first axis following the third axis of rotation.
Furthermore, the universal rotation module realizes the control of two attitude degrees of freedom of the permanent magnet, and the magnetic poles of the permanent magnet can deflect at any angle towards the initial state.
In one embodiment of the invention, a method for manipulating an auto-collimation pose adjustment of a capsule endoscope is provided. Under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet always keeps consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the magnetic pole direction of the permanent magnet, and the capsule shell is kept upright under the action of a strong magnetic field in the vertical direction. After the external magnetic field is closed, the magnetic poles of the permanent magnet are driven by the first micro motor and the second micro motor to deflect a preset angle relative to the axis of the capsule shell. The motor stops working, and a strong magnetic field in the vertical direction is generated again, so that the magnetic pole direction of the permanent magnet is deflected back to the vertical direction again, the capsule shell is driven to deflect by a preset angle, and the gesture control is completed.
Furthermore, as the magnetic pole direction of the permanent magnet can be automatically calibrated by the strong magnetic field, the gesture deflection precision of the capsule endoscope provided by the invention is determined by the control precision of the motor, and the capsule endoscope has the advantages of simple and convenient control and high precision.
In one embodiment of the invention, a method of manipulating the spatial position of a capsule endoscope is provided. Two identical circular electromagnetic coils are oppositely arranged at a certain distance in the vertical direction, and can generate a magnetic field with controllable strength in the middle area along with start and stop. In the horizontal direction, the magnetic field has the characteristics of strong center and weak periphery. Under the action of the magnetic field, the permanent magnet is always stable at the right middle position of the magnetic field, so that the horizontal position of the capsule endoscope can be controlled by horizontally moving the electromagnetic coil. In the vertical direction, the magnetic field has the characteristics of weak middle and strong two ends. In the vertical direction, closed loop control should be employed to control the vertical position of the capsule endoscope by changing the height of the solenoid or adjusting the current intensity in the solenoid.
Furthermore, the horizontal position of the capsule endoscope provided by the invention is directly determined by the central position of the magnetic field, and the capsule endoscope has high control precision. Meanwhile, the horizontal position change of the capsule endoscope provided by the invention does not influence the control in the vertical direction, so that the control difficulty of the vertical position is greatly reduced.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
The beneficial effects of the invention are that
Compared with the prior art, the invention has the beneficial effects that the problem of magnetic force and magnetic moment coupling is avoided by respectively controlling the space position and the gesture deflection of the capsule endoscope. The universal rotating module designed by the invention is matched with the control method of auto-collimation posture adjustment, so that the posture deflection precision of the capsule endoscope is directly determined by the control precision of the motor, and the capsule endoscope has the advantages of simplicity and convenience in control and high precision. The spatial position control method provided by the invention enables the horizontal position of the capsule endoscope to be directly determined by the central position of the magnetic field, has high control precision, and greatly reduces the control difficulty of the vertical position.
Drawings
Fig. 1: a front view of a preferred embodiment of the present invention;
fig. 2: a right side view of a preferred embodiment of the present invention;
fig. 3: a top view of a preferred embodiment of the present invention;
fig. 4: the explosion view of the universal rotation module and permanent magnet of a preferred embodiment of the present invention;
fig. 5: an initial state diagram of a preferred embodiment of the present invention;
fig. 6: schematic diagram of deflection state of a preferred embodiment of the present invention;
reference numerals in the drawings indicate
1-capsule shell, 2-camera module, 3-wireless communication module,
4-a main control module, 5-a battery module, 6-a universal rotation module,
7 permanent magnet, 8 first axis, 9 second axis,
in the view of figure 4 of the drawings,
601-a first micro-motor, 602-a second micro-motor,
603-a first timing belt, 604-a second timing belt,
605-first rotation axis, 606-second rotation axis, 607-third rotation axis,
608-a bevel gear set,
609-the first rotating collar, 610 is the second rotating collar.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
According to one embodiment of the invention, the capsule endoscope with the self-alignment posture adjusted comprises a capsule shell, a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet.
As shown in fig. 1 and 2, the capsule shell 1 is made of a high polymer transparent material which accords with biocompatibility, is nontoxic and harmless, is acid-resistant and pressure-resistant, and has no adverse effect on human bodies. The two ends of the capsule shell 1 are hemispherical, the middle part is a cylinder, and the whole shape is capsule-shaped, thus being suitable for human swallowing.
As shown in fig. 1, 2 and 3, the camera module 2 is located at the hemispherical end of the capsule shell 1, and is composed of a lens group, a CMOS camera chip and an annular array of LED light sources. At the time of examination, the LED light source will be activated, illuminating the stomach wall in the camera field of view. After the stomach wall images are converged by the lens group, the CMOS camera chip converts the optical signals into electric signals.
As shown in fig. 1 and 2, the wireless communication module 3 is closely adjacent to the camera module 2 and is mainly responsible for wireless communication with an upper computer. The wireless communication module 3 compresses the image signal generated by the camera module 2 and sends the compressed image signal to the external upper computer in real time while receiving the parameter instruction of the external upper computer.
As shown in fig. 1 and 2, the main control module 4 is closely attached to the wireless communication module 3, and comprises a microcontroller, which is the control center of the capsule endoscope. The main control module 4 controls the working states of the camera module 2 and the universal rotation module 6 according to the parameter instruction of the external upper computer.
As shown in fig. 1 and 2, the battery module 5 is located directly under the main control module 4 and mounted on an upper partition plate within the capsule housing 1. The battery module 5 adopts button cells and is responsible for supplying power to the camera module 2, the wireless communication module 3, the main control module 4 and the universal rotation module 6.
As shown in fig. 1, 2 and 4, the permanent magnet 7 is spherical, and is made of a strong magnetic material of rubidium-iron-boron, and the magnetization direction is the same as the normal direction of the second rotary collar 610 in the universal rotation module 6.
As shown in fig. 1, 2 and 4, the universal rotation module 6 is composed of a first micro motor 601, a second micro motor 602, a first timing belt 603, a second timing belt 604, a first rotation shaft 605, a second rotation shaft 606, a third rotation shaft 607, a bevel gear set 608, a first rotation collar 609 and a second rotation collar 610. The first micro-motor 601 and the second micro-motor 602 are both fixed on the lower partition plate inside the capsule housing 1, and a motor magnetic shield is installed to prevent the magnetic field interference of the motor from affecting the control of the permanent magnet 7. The first timing belt 603 and the second timing belt 604 are connected to the first rotary shaft 605 and the second rotary shaft 606 below through openings on both sides of the lower partition plate, respectively. The first micro motor 601 may drive the first rotation shaft 605 to rotate through the first timing belt 603, and the second micro motor 602 may drive the second rotation shaft 606 to rotate through the second timing belt 604. One end of the first rotary shaft 605 is in clearance fit with the shaft hole of the inner wall of the capsule shell 1, and the other end of the first rotary shaft is fixedly connected with the first rotary lantern ring 609, so that the first rotary lantern ring 609 can be driven to rotate together. One end of the second rotating shaft 606 is in clearance fit with the shaft hole of the inner wall of the capsule shell 1, and the other end of the second rotating shaft is hemispherical and hinged with the spherical groove on the first rotating collar 609. The second rotation shaft 606 only supports the first rotation collar 609 and does not affect the rotation movement of the first rotation collar 609.
As shown in fig. 1, 2 and 4, bevel gear set 608 includes a drive bevel gear and a driven bevel gear. The drive bevel gear is in interference fit with the second rotating shaft 606 through the shaft hole, and can synchronously rotate along with the second rotating shaft 606. The whole design of the drive bevel gear is bowl-shaped and is matched with the hemispherical bottom of the capsule shell 1, so that the structure is more compact. The driven bevel gear is meshed with the driving bevel gear through gears and can rotate in a matched mode. The third rotary shaft 607 is in interference fit with the driven bevel gear through the shaft hole, and rotates around the axis when driven by the driven bevel gear. The third rotation shaft 607 is clearance fitted with the first rotation collar 609 through the shaft hole, and the third rotation shaft 607 revolves around the first axis 8 with the first rotation collar 609. The outer wall of the second rotary sleeve 610 is in interference fit with the third rotary shaft 607 through the shaft hole, the inner wall of the second rotary sleeve 610 is in interference fit with the permanent magnet 7, and the second rotary sleeve 610 and the permanent magnet 7 can synchronously rotate along with the third rotary shaft 607.
In the embodiment of the present invention, the first rotary shaft 605 and the second rotary shaft 606 are installed in an axially centered manner, and the axes of both are coincident with the first axis 8. The second axis 9 coincides with the axis of the third rotation shaft 607 and is always perpendicular to the first axis 8. The second axis 9 will follow the third rotation axis 607 to rotate about the first axis 8. The first axis 8 and the second axis 9 intersect at the center of the permanent magnet 7, so that the center position of the permanent magnet 7 does not change during rotation.
In the embodiment of the present invention, when only the first micro motor 601 is operated and the permanent magnet 7 is controlled to rotate around the first axis 8, since the driven bevel gear of the bevel gear set 608 also rotates around the first axis 8, the driven bevel gear does not rotate, so that the driven bevel gear drives the third rotation shaft 607 to rotate, and further drives the permanent magnet 7 to rotate around the second axis 9. In order to rotate the permanent magnet 7 only about the first axis 8, it is necessary that the second micro-motor 602 co-operates and rotates at a matched rotational speed.
In an embodiment of the invention, the rotation of the permanent magnet 7 about the first axis 8 is not affected by the control of the second micro-motor 602. By properly configuring the rotational speeds of the first micro-motor 601 and the second micro-motor 602, the permanent magnet 7 can be rotated about the first axis 8 and the second axis 9 at the same time.
In the embodiment of the invention, the universal rotation module 6 realizes the control of two degrees of freedom of the permanent magnet 7, and the magnetic poles of the permanent magnet 7 can deflect by any angle relative to the initial state.
In the embodiment of the invention, a control method for adjusting the auto-collimation posture of a capsule endoscope is provided. Under the action of the external magnetic field, the magnetic pole orientation of the permanent magnet 7 always keeps consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the magnetic pole direction of the permanent magnet 7, and the capsule shell is kept upright under the action of a strong magnetic field in the vertical direction. After the external magnetic field is turned off, the magnetic poles of the permanent magnet 7 are driven by the first micro motor 601 and the second micro motor 602 to deflect a preset angle relative to the axis of the capsule housing 1. The motor stops working, and a strong magnetic field in the vertical direction is generated again, so that the magnetic pole direction of the permanent magnet 7 is deflected back to the vertical direction again, the capsule shell 1 is driven to deflect by a preset angle, and the gesture control is completed.
As shown in fig. 5, two identical circular electromagnetic coils are placed opposite to each other at a certain distance in the vertical direction, and a strong magnetic field in the vertical direction is formed in the middle area. In the initial state, under the action of a strong magnetic field in the vertical direction, the axis of the capsule housing 1, the axis of the first rotary collar 609, the axis of the second rotary collar 610 and the magnetic pole direction of the permanent magnet 7 are all coincident and in the vertical direction. After the current in the solenoid is turned off, the strong magnetic field is removed and the permanent magnet 7 is controlled to rotate 90 ° clockwise around the second axis 9 by the second micro-motor 602. The axis of the capsule housing 1 and the pole direction of the permanent magnet 7 will deviate from the vertical direction at this time. After the motor stops working, the electromagnetic coil is powered, a strong magnetic field in the vertical direction is formed again, and the magnetic pole direction of the permanent magnet 7 is automatically calibrated back to the vertical direction under the action of the external magnetic field, so that the capsule shell 1 is driven to deflect together.
The deflected state is shown in fig. 6. The magnetic pole direction of the permanent magnet 7, the axial direction of the second rotary collar 610 and the external magnetic field direction are the same direction and are all vertical directions; the axial direction of the capsule housing 1, the axial direction of the first rotating collar 609 and the external magnetic field direction are perpendicular, along the horizontal direction. At this time, the imaging module 2 has a good view of the stomach side wall, and can perform a full examination of the stomach side wall.
In the embodiment of the invention, the magnetic pole direction of the permanent magnet 7 can be automatically calibrated by a strong magnetic field, so that the gesture deflection precision of the capsule endoscope is determined by the control precision of the first micro motor 601 and the second micro motor 602, and the capsule endoscope has the advantages of simple and convenient control and high precision.
In an embodiment of the invention, a method for controlling a spatial position of a capsule endoscope is provided. As shown in fig. 5, two identical circular electromagnetic coils are placed opposite to each other at a certain distance in the vertical direction, and a magnetic field with controllable strength is generated in the middle area along with start and stop. In the horizontal direction, the magnetic field has the characteristics of strong center and weak periphery. Under the effect of the magnetic field, the permanent magnet 7 will always be stable in the exactly middle position of the magnetic field, so that the horizontal position of the capsule endoscope can be controlled by horizontally moving the electromagnetic coil. In the vertical direction, the magnetic field has the characteristics of weak middle and strong two ends. In the vertical direction, closed loop control should be employed to control the vertical position of the capsule endoscope by changing the height of the solenoid or adjusting the current intensity in the solenoid.
In the embodiment of the invention, the horizontal position of the capsule endoscope is directly determined by the central position of the magnetic field, so that the capsule endoscope has high control precision. Meanwhile, the control in the vertical direction is not influenced by the change of the horizontal position of the capsule endoscope, so that the control difficulty of the vertical position is greatly reduced.
Claims (12)
1. The capsule endoscope with the auto-collimation posture adjustment is characterized in that a capsule shell (1) comprises a camera module (2), a wireless communication module (3), a main control module (4), a battery module (5), a universal rotation module (6) and a permanent magnet (7), the magnetic pole orientation of the permanent magnet (7) can always keep consistent with the external magnetic field direction under the action of an external magnetic field,
the camera module (2) is used for shooting stomach wall images;
the wireless communication module (3) is used for receiving and transmitting image information;
the main control module (4) is used as a control center of the capsule endoscope and respectively controls the working states of the camera module (2) and the universal rotation module (6) according to parameter instructions of an external upper computer;
the battery module (5) is responsible for giving the camera module (2), the wireless communication module (3), the main control module (4) and the universal rotation module (6);
the permanent magnet (7) is used for controlling the position and the posture in cooperation with an external magnetic field;
the universal rotation module (6) is driven by the miniature motor to drive the transmission piece to control the magnetic pole deflection of the permanent magnet, and the magnetic force and magnetic moment coupling are avoided by respectively controlling the space position and the gesture deflection of the capsule endoscope.
2. The capsule endoscope with the auto-collimation posture adjusted according to claim 1, wherein the universal rotation module comprises a first micro motor (601), a second micro motor (602), a first synchronous belt (603), a second synchronous belt (604), a first rotation shaft (605), a second rotation shaft (606), a third rotation shaft (607), a bevel gear group (608), a first rotation collar (609) and a second rotation collar (610), the first micro motor (601) drives the first rotation shaft to rotate (605) through the first synchronous belt (603), and the first rotation shaft (605) is fixedly connected with the first rotation collar (609) and can drive the first rotation collar (609) to rotate together; the second micro motor (602) drives a second rotating shaft (606) to rotate through the second synchronous belt (604), and the second rotating shaft (606) is hinged with the first rotating sleeve ring (609) without affecting the movement of the first rotating sleeve ring; the bevel gear set (608) comprises a driving bevel gear and a driven bevel gear, and the driving bevel gear is fixedly connected with the second rotating shaft (606) and can synchronously rotate along with the second rotating shaft (606); the driven bevel gear is meshed with the driving bevel gear through a gear and can rotate in a matched manner; the third rotating shaft (607) is fixedly connected with the driven bevel gear and rotates around the second axis (9) when driven by the driven bevel gear; the third rotating shaft (607) is connected with the first rotating collar (609) through a shaft hole, and the third rotating shaft (607) can revolve around the first axis (8) of the first rotating shaft (605) along with the first rotating collar (609); the outer part of the second rotary sleeve ring (610) is fixedly connected with the third rotary shaft (607), and the inner part of the second rotary sleeve ring (610) is fixedly connected with the permanent magnet; and the gesture control of the permanent magnet (7) is realized through the universal rotation module (6), so that the magnetic poles of the permanent magnet (7) deflect by any angle towards the initial state.
3. The capsule endoscope for auto-collimation posture adjustment according to claim 1, characterized in that,
the capsule shell (1) is made of a high-molecular transparent material which accords with biocompatibility, wherein two ends of the capsule shell are hemispherical, and the middle of the capsule shell is cylindrical.
4. A capsule endoscope with an auto-collimation posture adjusted according to claim 1 or 3, characterized in that the camera module (2) is located at the hemispherical end of the capsule shell (1), and is composed of a lens group, a CMOS camera chip and an annular array of LED light sources, the LED light sources are started to illuminate the stomach wall in the field of view of the camera during inspection, and after the stomach wall images are converged by the lens group, the CMOS camera chip converts optical signals into electrical signals and transmits the electrical signals to the wireless communication module (3).
5. The capsule endoscope for auto-collimation posture adjustment according to claim 2, characterized in that,
the first micro motor (601) and the second micro motor (602) are matched through rotating speeds, and the permanent magnet (7) is driven to rotate (9) around a first axis (8) and a second axis.
6. The capsule endoscope for auto-collimation posture adjustment according to claim 2, characterized in that,
the first rotary shaft (605) and the second rotary shaft (606) are assembled in an axially centered manner, and the axes of the first rotary shaft and the second rotary shaft are coincident with the first axis (8).
7. The capsule endoscope for auto-collimation posture adjustment according to claim 2, characterized in that,
the second axis (9) coincides with the axis of the third rotation shaft (607) and is always perpendicular to the first axis; the second axis (9) is rotatable about the first axis (8) following the third rotation axis (607).
8. The capsule endoscope with the auto-collimation posture adjusted according to claim 2, wherein the normal direction of the second rotary sleeve ring (610) in the universal rotation module 6 is the same as the magnetization direction of the permanent magnet (7), and the permanent magnet (7) is spherical as a whole, and is made of a strong magnetic material of rubidium-iron-boron.
9. The capsule endoscope with the auto-collimation posture adjusted according to claim 1, wherein the wireless communication module (3) is closely adjacent to the camera module (2) and is responsible for wireless communication with an upper computer, and the wireless communication module (3) compresses and transmits image signals generated by the camera module (2) to the external upper computer in real time while receiving parameter instructions of the external upper computer.
10. The capsule endoscope with the self-alignment posture adjusted according to claim 1, wherein the battery module (5) adopts a button battery, is positioned right below the main control module (4) and is arranged on an upper partition plate in the capsule shell 1.
11. The control method of the capsule endoscope with the self-alignment posture adjusted according to any one of claims 2 to 8, characterized in that the magnetic pole orientation of the permanent magnet (7) is always kept consistent with the external magnetic field direction under the action of the external magnetic field, i.e. the magnetic pole direction of the permanent magnet is automatically aligned by a strong magnetic field;
in the initial state, the axis of the capsule shell (1) coincides with the magnetic pole direction of the permanent magnet (7), and the capsule shell is kept upright under the action of a strong magnetic field in the vertical direction; after the external magnetic field is closed, the magnetic poles of the permanent magnet (7) are driven to deflect a preset angle relative to the axis of the capsule shell (1) through the first micro motor (601) and the second micro motor (602) of the universal rotation module (6); the motor stops working, and a strong magnetic field in the vertical direction is generated again, so that the magnetic pole direction of the permanent magnet (7) is deflected back to the vertical direction again, the capsule shell (1) is driven to deflect by a preset angle, and the gesture control is completed.
12. The control method of the capsule endoscope with the auto-collimation posture adjusted according to claim 11, wherein the external magnetic field is formed by placing two identical circular electromagnetic coils at a certain distance in the vertical direction, and a magnetic field with controllable strength is generated in the middle area of the two identical circular electromagnetic coils when the two identical circular electromagnetic coils are started and stopped; in the horizontal direction, the magnetic field has the characteristics of strong center and weak periphery, the permanent magnet (7) is always stable at the right middle position of the magnetic field, namely, the horizontal position of the capsule endoscope is controlled by horizontally moving the electromagnetic coil, and the horizontal position of the capsule endoscope is directly determined by the center position of the magnetic field; in the vertical direction, the external magnetic field has the characteristics of weak middle and strong two ends, and in the vertical direction, the vertical position of the capsule endoscope is controlled by changing the height of the electromagnetic coil or adjusting the current intensity in the electromagnetic coil by adopting closed-loop control;
in the initial state, under the action of a strong magnetic field in the vertical direction, the axis of the capsule shell (1), the axis of the first rotary sleeve ring (609), the axis of the second rotary sleeve ring (610) and the magnetic pole direction of the permanent magnet (7) are all overlapped and are in the vertical direction; after the current in the electromagnetic coil is stopped, the strong magnetic field disappears, the permanent magnet (7) is controlled to rotate 90 degrees clockwise around the second axis (9) through the second micro motor (602), and at the moment, the axis of the capsule shell (1) and the magnetic pole direction of the permanent magnet (7) deviate from the vertical direction; after the motor stops working, the electromagnetic coil is powered, a strong magnetic field in the vertical direction is formed again, and the magnetic pole direction of the permanent magnet (7) is automatically calibrated to return to the vertical direction under the action of an external magnetic field, so that the capsule shell (1) is driven to deflect together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310329328.7A CN116458829A (en) | 2023-03-30 | 2023-03-30 | Capsule endoscope with auto-collimation posture adjustment function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310329328.7A CN116458829A (en) | 2023-03-30 | 2023-03-30 | Capsule endoscope with auto-collimation posture adjustment function |
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| CN116458829A true CN116458829A (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310329328.7A Pending CN116458829A (en) | 2023-03-30 | 2023-03-30 | Capsule endoscope with auto-collimation posture adjustment function |
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| Country | Link |
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| CN (1) | CN116458829A (en) |
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- 2023-03-30 CN CN202310329328.7A patent/CN116458829A/en active Pending
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