CN118044773A - Driving and charging multiplexing system of capsule endoscope - Google Patents
Driving and charging multiplexing system of capsule endoscope Download PDFInfo
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Abstract
The embodiment of the application is suitable for the technical field of medical treatment, and provides a driving and charging multiplexing system of a capsule endoscope, which comprises the capsule endoscope and an in-vitro control device; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external control device comprises a mechanical arm, and a plurality of orthogonal external electromagnetic coils are arranged at the tail end of the mechanical arm; wherein: the external control device is used for respectively applying a first current signal and a second current signal to the external electromagnetic coil so as to simultaneously drive the capsule endoscope to move and charge the capsule endoscope; the first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high frequency alternating signal for charging the capsule endoscope. By adopting the system, the capsule endoscope can be charged at any time in the process of driving the capsule endoscope to move.
Description
Technical Field
The embodiment of the application belongs to the technical field of medical treatment, and particularly relates to a driving and charging multiplexing system of a capsule endoscope.
Background
The capsule endoscope is an important technical means for complete digestive tract examination, has the characteristics of no pain, non-invasiveness and the like, and is increasingly applied in clinic. The capsule endoscope is usually only one capsule in size, and consists of a dome-shaped optical housing, an optical lens, an image sensor, an illuminating lamp, a radio frequency transmitter, an antenna, a battery and the like, and can be used for shooting the gastrointestinal tract of a patient after being swallowed by the patient. The photographed image can be transmitted to the outside of the body through the transmitter and the antenna for the doctor to process.
During clinical application, the battery in the capsule endoscope needs to power the various modules. The battery in the existing capsule endoscope can only maintain the operation of the capsule endoscope for 7-8 hours, if the resolution and the frame rate of the shot images need to be improved, the power consumption of the capsule endoscope can be larger, the operation time of the capsule endoscope is further shortened, and the requirement of complete examination of the gastrointestinal tract of a patient cannot be met. Although the working time of the capsule endoscope in the human body can be prolonged by wirelessly charging the capsule endoscope in the prior art, the charging process may affect the control of the driving process of the capsule endoscope.
Disclosure of Invention
In view of the above, the embodiment of the application provides a driving and charging multiplexing system for a capsule endoscope, which can charge the capsule endoscope at any time in the process of driving the capsule endoscope to move, so that the driving process and the charging process of the capsule endoscope are not interfered with each other, and the efficiency of performing gastrointestinal tract examination by using the capsule endoscope is improved.
A first aspect of an embodiment of the present application provides a driving and charging multiplexing system for a capsule endoscope, including a capsule endoscope and an in vitro control device; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external control device comprises a mechanical arm, and a plurality of orthogonal external electromagnetic coils are arranged at the tail end of the mechanical arm; wherein:
The external control device is used for respectively applying a first current signal and a second current signal to the external electromagnetic coil so as to drive the capsule endoscope to move and charge the capsule endoscope; the first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high frequency alternating signal for charging the capsule endoscope.
Optionally, the frequency of the first current signal is less than 5Hz, and the frequency of the second current signal is greater than 100kHz and less than 10MHz.
Optionally, the capsule magnet is cylindrical, the charging coil is solenoid-type, and the central axes of the capsule magnet and the charging coil are consistent with the central axis of the capsule endoscope.
Optionally, the external control device is specifically configured to obtain pose information of the capsule endoscope in a human body, control the external electromagnetic coil to move to a target position according to the pose information, and apply the first current signal and the second current signal to the external electromagnetic coil at the target position respectively, so as to drive the capsule endoscope to move and charge the capsule endoscope at the same time.
Optionally, the pose information includes a position parameter and a direction parameter of the capsule endoscope, and the external control device is further configured to determine the target position and a current value of the first current signal according to the pose information; wherein, after the first current signal is applied to the external electromagnetic coil at the target position, the acting force of the driving magnetic field generated based on the first current signal on the capsule endoscope in the central axis direction of the capsule magnet reaches a maximum value.
Optionally, the number of orthogonal external electromagnetic coils is three, and the current values of the first current signals respectively include the respective current magnitudes applied to the three external electromagnetic coils.
Optionally, the in-vitro control device stores a data table of correspondence between pose information and target position and current value, the data table of correspondence between pose information and target position and current value is obtained through pre-simulation, and the in-vitro control device is specifically configured to obtain pose information of the capsule endoscope in a human body, and determine the current value of the first current signal and the target position corresponding to the pose information by querying the data table of correspondence between pose information and target position and current value.
Optionally, after the external control device drives the capsule endoscope to move to cause the pose information of the capsule endoscope to change, the external control device is further configured to obtain the pose information of the capsule endoscope after the change, control the external electromagnetic coil to move to a new target position according to the pose information after the change, and apply the first current signal and the second current signal to the external electromagnetic coil at the new target position respectively.
Optionally, the external control device is further configured to demagnetize the external electromagnetic coil and turn off the power supply of the external electromagnetic coil before the first current signal and the second current signal are applied to the external electromagnetic coil, respectively.
Optionally, the process of applying the first current signal and the second current signal to the external electromagnetic coil by the external control device is performed simultaneously or not completely simultaneously.
The second aspect of the embodiment of the application provides a driving and charging multiplexing method of a capsule endoscope, which is applied to an external control device, wherein the external control device comprises a mechanical arm, and a plurality of orthogonal external electromagnetic coils are arranged at the tail end of the mechanical arm; the method comprises the following steps:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
A third aspect of an embodiment of the present application provides an in vitro control device of a capsule endoscope, including:
the target position acquisition module is used for acquiring pose information of the capsule endoscope in the human body and determining a target position according to the pose information;
a solenoid movement module for moving a plurality of orthogonal in-vitro solenoids to the target location;
The current signal application module is used for respectively applying a first current signal and a second current signal to the plurality of orthogonal external electromagnetic coils so as to simultaneously drive the capsule endoscope in the human body to move and charge the capsule endoscope;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
A fourth aspect of an embodiment of the present application provides a medical device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following method when executing the computer program:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
A fifth aspect of embodiments of the present application provides a computer readable storage medium storing a computer program which when executed by a processor performs the method of:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
A sixth aspect of embodiments of the application provides a computer program product which, when run on a computer, causes the computer to perform the method of:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
The embodiment of the application improves the existing capsule endoscope, adds the capsule magnet and the charging coil in the capsule endoscope, combines a plurality of orthogonal external electromagnetic coils, can carry out wireless charging on the capsule while carrying out electromagnetic driving by loading low-frequency slow-varying current and high-frequency alternating current, solves the problem of insufficient power supply of the capsule endoscope, ensures that the driving process and the charging process of the capsule endoscope are not mutually interfered, and improves the efficiency of gastrointestinal tract examination by using the capsule endoscope.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a multiplexing system for driving and charging a capsule endoscope according to an embodiment of the present application;
FIG. 2 is a schematic view of a capsule endoscope provided by an embodiment of the present application;
FIG. 3 is a schematic view of a positioning principle of a capsule endoscope provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a composite excitation of a slow varying current and an alternating current provided by an embodiment of the present application;
Fig. 5 is a schematic diagram of a wireless charging process according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a time-sharing operation timing sequence of a driving and charging multiplexing system for a capsule endoscope according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a method for multiplexing driving and charging of a capsule endoscope according to an embodiment of the present application;
fig. 8 is a schematic diagram of a medical device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical scheme of the application is described below through specific examples.
Referring to fig. 1, there is shown a schematic diagram of a driving and charging multiplexing system for a capsule endoscope according to an embodiment of the present application, which includes a capsule endoscope 101 and an external control device (not fully shown in the drawing). The capsule endoscope 101 includes a capsule magnet 1011 and a charging coil 1012, and the charging coil 1012 may be sleeved outside the capsule magnet 1011. The extracorporeal control apparatus comprises a robotic arm 102, and a plurality of orthogonal extracorporeal solenoids 1021 may be mounted at the end of the robotic arm 102. Illustratively, the number of the plurality of orthogonal external solenoids 1021 in fig. 1 may be 3, i.e., the external solenoids 1021 with the ends of the robot arm 102 fixed may be composed of 3 orthogonal solenoids. By applying a current to these external electromagnetic coils 1021, driving and charging of the capsule endoscope 101 in the human body can be achieved.
Specifically, after the capsule endoscope is swallowed by the patient to the gastrointestinal tract, the external control device may apply a first current signal and a second current signal to the external electromagnetic coil, respectively, to drive the capsule endoscope to move and charge the capsule endoscope. The first current signal may be a low-frequency slowly-varying signal, that is, a signal with a low frequency and a slow current value change, and the low-frequency slowly-varying signal may be used to drive the capsule endoscope to move; the second current signal may be a high frequency alternating signal, i.e. an alternating signal with a higher signal frequency, which may be used for charging the capsule endoscope.
In one possible implementation of the embodiment of the present application, the external control device may move the external electromagnetic coils to a target position before applying the first current signal and the second current signal to the plurality of orthogonal external electromagnetic coils. Illustratively, the extracorporeal control apparatus may control the robotic arm 102 of fig. 1 to move its end-mounted extracorporeal solenoid 1021 to a target location. The target position can be a position determined according to the pose of the capsule endoscope in the human body, and at the target position, a reasonable first current signal applied to the external electromagnetic coil can generate a magnetic field to drive the capsule endoscope to move in the gastrointestinal tract of the human body, and a second current signal can generate stronger magnetic field coupling to improve the charging efficiency.
In one possible implementation of the embodiment of the application, the pose of the capsule endoscope in the human body can be obtained by positioning the capsule endoscope through an external magnetic sensor array. Illustratively, the multiplexing system for driving and charging the capsule endoscope in fig. 1 may further include a magnetic sensor array 103, where the magnetic sensor array 103 may be installed below the examination bed and be composed of a plurality of magnetic sensors. When the capsule endoscope is used for examining a patient, the patient can lie on the examination bed, and the magnetic sensor array below the examination bed can position the capsule endoscope which is swallowed into the gastrointestinal tract to obtain pose information of the capsule endoscope. Then, the external control device can determine a target position according to the pose information, move a plurality of orthogonal external electromagnetic coils to the target position by using the mechanical arm, and apply a first current signal and a second current signal on the external electromagnetic coils so as to realize the purpose of simultaneously charging the capsule endoscope in the driving process.
The process of driving and charging the capsule endoscope simultaneously by the driving and charging multiplexing system of the capsule endoscope provided by the embodiment of the application is described in detail below. In the embodiment of the present application, the "capsule", "capsule endoscope" and "wireless capsule endoscope" refer to the capsule endoscope 101 in fig. 1 unless otherwise specified.
With reference to fig. 1 and 2, fig. 2 is a schematic view of a capsule endoscope according to an embodiment of the present application. As can be seen from fig. 2, the capsule endoscope 101 in the embodiment of the present application includes a capsule magnet 1011 and a charging coil 1012 in addition to a conventional optical housing 1013, an optical lens 1014, an image sensor 1015, an LED lighting assembly 1016, a controller 1017 (including a wireless transceiver), an antenna 1018, and a battery 1019. As shown in fig. 2, the capsule magnet 1011 may be cylindrical and the charging coil 1012 may be solenoid-type, with the central axes of the capsule magnet 1011 and the charging coil 1012 coincident with the central axis of the capsule endoscope 101. The charging coil 1012 may be sleeved outside the capsule magnet 1011. Thus, the external solenoid 1021 in FIG. 1 can generate a slowly varying driving magnetic field after the application of the first current signal, i.e., the low frequency slowly varying signal. The cylindrical capsule magnet 1011 can realize the purpose of driving the capsule to move under the action of the slowly varying driving magnetic field. Alternatively, the external control device may apply a second current signal, i.e. a high frequency alternating signal, to the external electromagnetic coil 1021, which may generate an alternating electromagnetic field. When the charging coil 1012 in the capsule endoscope 101 receives energy generated by the alternating electromagnetic field, the energy can be used to charge the circuitry inside the capsule endoscope 101. Since the capsule magnet 1011 in the capsule endoscope 101 coincides with the central axis of the charging coil 1012, the slowly varying driving magnetic field realizes a large driving force, and the charging coil 1012 can accordingly obtain a large inductive charging power.
In one possible implementation of an embodiment of the application, the external electromagnetic coil may be composed of 3 mutually orthogonal coils. The coils can generate a magnetic field, namely a slow-changing driving magnetic field, at the position of the capsule endoscope under the excitation of the first current signal. The slowly varying drive magnetic field interacts with the capsule magnet to drive movement of the capsule endoscope within the gastrointestinal tract. In general, the capsule endoscope has an optimal direction of movement in the gastrointestinal tract, so the direction of the slowly varying driving magnetic field should be as consistent as possible, which requires adjusting the current levels of the 3 orthogonal external electromagnetic coils so that the direction of the combined magnetic field generated by the 3 electromagnetic coils (i.e. the combined magnetic field generated by the 3 electromagnetic coils) is consistent with the movement direction of the capsule endoscope. Compared with the charging scheme using only 1 electromagnetic coil in the prior art, the position and the direction of the electromagnetic coil need to be adjusted simultaneously when using 1 electromagnetic coil, and due to the limitation of human body and space, the adjustment of the position and the direction is often difficult to achieve the best. In the embodiment of the application, by applying 3 orthogonal electromagnetic coils, only the positions of the electromagnetic coils are required to be adjusted, and the adjustment of the magnetic field direction can be realized by adjusting the current in the coils. In this way, an optimal magnetic field direction is more advantageously obtained.
In one possible implementation of the embodiment of the present application, the external control device may apply the first current signal and the second current signal to the external electromagnetic coil after moving the orthogonal external electromagnetic coil to the target position. Because the target position can be determined based on the pose of the capsule endoscope in the human body, the external control device should position the capsule endoscope before moving the external electromagnetic coil to obtain pose information of the capsule endoscope, and the pose information can comprise position parameters and direction parameters of the capsule endoscope.
In one example, positioning of the capsule endoscope may be accomplished using an in vitro magnetic sensor array. Fig. 3 is a schematic diagram of a positioning principle of a capsule endoscope according to an embodiment of the present application. Assuming that the center position of the capsule magnet in the capsule endoscope is (a, b, c), the main axis direction thereof is H 0 = (m, n, p), so that the capsule magnet can generate a static magnetic field on its periphery and the magnetic sensor. The magnetic field generated by the capsule magnet at a point in space (e.g., the location (x l、yl、zl) where the first magnetic sensor is located in fig. 3), l=1, 2, … N), can be described mathematically by a magnetic dipole model:
In the above formula, B l is the magnetic induction at position (x l,yl,zl); b lx,Bly and B lz are 3 magnetic induction components at this location, which can be measured by a magnetic sensor; n (N is more than or equal to 5) is the number of magnetic sensors in the magnetic sensor array; mu r is the relative permeability, typically in humans and air mu r≈1;μ0 is the vacuum permeability and mu 0＝4π×10-7T·m/A;MT is the constant characterizing the magnetic field strength of the capsule magnet; r l is the modulus of P l, P l is the vector of the position of the first magnetic sensor relative to the capsule magnet center position, P l＝[xl-a,yl-b,zl-c]T.H0(＝[m,n,p]T) is the vector characterizing the capsule magnet principal axis direction, which is two-dimensional, with constraints:
m2+n2+p2＝1……(2)
Expanding the above formula (1) can obtain:
wherein,
B lx,Bly and B lz can be measured by magnetic sensors at positions (x l,yl,zl). By using the formula, the position parameters [ a, b, c ] T and the direction parameters [ m, n, p ] T of the capsule magnet can be solved by adopting a mathematical analysis or nonlinear optimization solving method. The position parameter and the direction parameter form pose information of the capsule endoscope in a human body.
According to the pose information, the external control device can determine the target position of the external electromagnetic coilAnd a current value of the first current signal, the target position/>Can be the optimal driving position, namely the target positionAfter the first current signal is applied to the external electromagnetic coil, the acting force of the driving magnetic field generated based on the first current signal on the capsule endoscope in the central axis direction of the capsule magnet can reach the maximum value. Since the external electromagnetic coil may be composed of 3 orthogonal electromagnetic coils, the current value of the first current signal determined according to the pose information may include the respective magnitudes of currents respectively applied to the 3 external electromagnetic coils, i.e., (I 1,I2,I3).
In one possible implementation of the embodiment of the application, the maximum force is obtained by maximizing the difference between the magnetic inductances on the two surfaces of the capsule magnet, i.e. the gradient magnetic field. Since the magnetic field vector in any direction can be adjusted by using the currents of 3 orthogonal coils, the three-dimensional position of the electromagnetic coil corresponding to the maximum gradient magnetic field around the magnet and the current of 3 orthogonal coils can be determined through simulation calculation. In the simulation process, 3 orthogonal electromagnetic coils can calculate the magnetic induction intensity generated by the electromagnetic coils by taking magnetic dipoles as a model, the maximum gradient magnetic fields in the axial directions of two surfaces of the capsule magnet are taken as targets, three-dimensional coordinate differences of the electromagnetic coils relative to the capsule magnet and current values of the 3 coils are optimally searched, pose (a, b, c, m, n, p) of the capsule magnet is established as input data, and the target position of the electromagnetic coils is outputAnd a relation data table of current magnitudes (I 1,I2,I3) on the 3 orthogonal coils, namely a relation data table of pose information corresponding to the target position and the current value. The relationship data table obtained through simulation can be stored in the external control device, so that after the external control device obtains the pose information of the capsule endoscope in the human body, the current value of the first current signal and the target position corresponding to the current pose information of the capsule endoscope can be determined by inquiring the relationship data table. The external control device can utilize the mechanical arm to move the external electromagnetic coil to the target position, and utilizes the driving circuit to generate current with corresponding magnitude, so as to generate the maximum driving force for driving the capsule endoscope in the gastrointestinal tract to move.
In the embodiment of the application, the external electromagnetic coil can be used for combining with the charging coil in the capsule endoscope to realize wireless charging of the capsule endoscope while the magnetic field generated by the external electromagnetic coil is used for driving the capsule endoscope to move. That is, the external electromagnetic coil in the embodiment of the application can be reused, on one hand, the external electromagnetic coil can be used as a capsule driving coil for driving the capsule endoscope to move, and on the other hand, the external electromagnetic coil can also be used as a magnetic energy transmitting coil for wirelessly charging the capsule endoscope. Specifically, the embodiment of the application can adopt an electromagnetic coupling mode to carry out wireless charging, and the capsule endoscope can be subjected to wireless charging by superposing alternating current with specific frequency while applying low-frequency slowly-changing first current signals on the orthogonal 3-body external electromagnetic coils so that the capsule endoscope can generate motion.
It should be noted that when superimposing alternating currents, care should be taken to avoid interfering with the driving process, i.e. to avoid using low frequency and direct current signals. Since the high-frequency alternating signal has negligible influence on the driving and can generate larger charging electromagnetic coupling, the alternating current with a specific frequency applied on the external electromagnetic coil for realizing wireless charging of the capsule endoscope can be the high-frequency alternating signal.
In one possible implementation of an embodiment of the application, the frequency of the first current signal, i.e. the low frequency slowly varying signal, used to drive the movement of the capsule endoscope may be less than 5Hz (hertz), and the frequency of the second current signal, i.e. the high frequency alternating signal, used to charge the capsule endoscope may be greater than 100kHz and less than 10MHz (megahertz/megahertz).
Fig. 4 is a schematic diagram of a composite excitation of a slow-varying current and an alternating current according to an embodiment of the present application. For the magnetic field generated by the external electromagnetic coil, the slow-varying signal is used for driving the capsule magnet, while the wireless charging requires a fast-varying alternating signal, which is usually a high-frequency sinusoidal signal. Thus, simultaneous electromagnetic driving and wireless charging of the capsule endoscope can be achieved by superimposing the two signals.
In the charging process, an alternating magnetic field is formed around a charging coil in the capsule endoscope, and the alternating magnetic field can form induced electromotive force on the charging coil, and the battery and the capacitor in the capsule endoscope are charged after passing through a charging circuit. Since the induced electromotive force of the charging coil is proportional to the magnitude of the alternating magnetic flux flowing through the charging coil, the direction of the alternating magnetic field generated by the external electromagnetic coil should coincide with the central axis of the charging coil. In the embodiment of the application, the central axis of the charging coil is consistent with the central axis of the capsule magnet, so that the charging coil can acquire larger alternating magnetic flux while ensuring the maximum capsule magnetic driving force, and sufficient charging current is generated to effectively charge the battery in the capsule endoscope.
In the embodiment of the application, the influence of a human body on electromagnetic coupling and the influence of the frequency of a charging transmission signal on the transmission of wireless electric energy are paid attention to in wireless charging. Therefore, a reasonable frequency should be selected during the charging process, improving the efficiency of power transfer. Generally, a resonance method may be used to determine the frequency of the charging signal, that is, a specific coupling capacitor is added to the circuit of the charging coil, and then the frequency is adjusted to make the charging coil and the external electromagnetic coil generate magnetic coupling resonance, so as to obtain the maximum power transmission. In the process of realizing charging, the 3 mutually orthogonal external electromagnetic coils can use sinusoidal signals with the same phase as the current value of each coil, namely the current value of the second current signal, and the amplitude values of the three external electromagnetic coils can be determined by the method for calculating the current value of the first current signal, which is not repeated here.
Fig. 5 is a schematic diagram of a wireless charging process according to an embodiment of the present application. The second current signal generated by the driving power supply can be applied to the external electromagnetic coil, so that the generated alternating magnetic field is mutually coupled with the charging coil in the capsule endoscope to induce alternating current in the charging coil, and the complete charging process is completed through the charging circuit in the capsule endoscope. As shown in fig. 5, the charging circuit in the capsule endoscope includes a rectifying circuit, a rechargeable battery, and a charging capacitor. The rectification circuit can convert alternating current of the charging coil into direct current to charge the battery and the capacitor in the capsule. The rechargeable battery and the charging capacitor are used as a charging energy storage module, and can supply power to each electric element in the capsule after the voltage is stabilized by the voltage stabilizing module. Rechargeable batteries can be used for long-term power supply and charging capacitors for short-term current regulation.
In one possible implementation manner of the embodiment of the application, the external control device can cause the pose information of the capsule endoscope to change in the process of driving the capsule endoscope to move. That is, after the external control device drives the capsule endoscope to move, the pose information of the capsule endoscope at the new position is also changed. At this time, the external control device can acquire pose information of the capsule endoscope after being changed, control the external electromagnetic coil to move to a new target position according to the pose information after being changed, and apply a first current signal and a second current signal to the external electromagnetic coil at the new target position respectively.
In one possible implementation manner of the embodiment of the present application, when the capsule endoscope is used for performing gastrointestinal tract examination, the magnetic sensor array detects and locates the magnetic field of the capsule magnet in the capsule endoscope, and peripheral magnetic field interference needs to be eliminated during the locating process, so that the external electromagnetic coil needs to be powered off and the magnetic circuit system needs to be demagnetized. Specifically, the external control device may demagnetize the external electromagnetic coil and turn off the power supply of the external electromagnetic coil before applying the first current signal and the second current signal to the external electromagnetic coil, respectively.
Fig. 6 is a schematic diagram of time-sharing operation timing sequence of a driving and charging multiplexing system of a capsule endoscope according to an embodiment of the present application. According to the operational sequence shown in fig. 6, the capsule endoscope driving and charging multiplexing system may periodically cycle the following steps, namely: 1) The external electromagnetic coil is powered off, and the magnetic circuit of the external electromagnetic coil is demagnetized; 2) Positioning the capsule endoscope; 3) The positioning result and the capsule image information are synthesized to obtain magnetic driving feedback information; 4) The mechanical arm is controlled to move the external electromagnetic coil to the optimal target position, so that the magnetic driving of the capsule is realized; 5) And (3) superposing alternating current on the external electromagnetic coil to wirelessly charge the capsule endoscope.
In one possible implementation manner of the embodiment of the present application, the process of applying the first current signal and the second current signal to the external electromagnetic coil by the external control device respectively may be performed simultaneously; or as shown in fig. 6, the two do not occur completely simultaneously. That is, the magnetic drive process and the wireless charging process may be slightly different in time.
The embodiment of the application improves the existing capsule endoscope, adds the capsule magnet and the charging coil in the capsule endoscope, combines a plurality of orthogonal external electromagnetic coils, can carry out wireless charging on the capsule while carrying out electromagnetic driving by loading low-frequency slow-varying current and high-frequency alternating current, solves the problem of insufficient power supply of the capsule endoscope, ensures that the driving process and the charging process of the capsule endoscope are not mutually interfered, and improves the efficiency of gastrointestinal tract examination by using the capsule endoscope.
For ease of understanding, a description will be given below of a specific procedure of the driving and charging multiplexing system for a capsule endoscope according to an embodiment of the present application.
A) The capsule is swallowed and the person is allowed to lie in the appropriate position on the table.
In this example, the capsule may be a capsule endoscope having a structure as shown in fig. 2. The capsule endoscope includes a capsule magnet and a charging coil in addition to a conventional optical cover, optical lens, image sensor, LED lighting assembly, controller (including wireless transceiver), antenna and battery. Wherein, the capsule magnet can be cylindrical permanent magnet, and the charging coil is solenoid type. The solenoid-type charging coil may be sleeved outside the cylindrical capsule magnet. The center axes of the capsule magnet and the charging coil are aligned with the center axis of the capsule endoscope. In the charging process, the charging coil realizes the related functions of the charging receiving coil.
B) Demagnetizing the magnetic circuit of the external electromagnetic coil, and closing the power supply to make the external electromagnetic coil in a non-current state.
C) And positioning the capsule endoscope in the human body through the magnetic sensor array to acquire pose information of the capsule endoscope.
In this example, a magnetic sensor array may be mounted below the inspection station, and the magnetic sensor array may be composed of a plurality of magnetic sensors, each of which may be a three-axis magnetic sensor.
The pose information of the capsule endoscope may include a position parameter and a direction parameter of the capsule endoscope. The specific process of determining pose information of the capsule endoscope based on the magnetic sensor array may be described in the foregoing embodiments, and will not be described herein.
D) According to pose information of the capsule endoscope, the mechanical arm is controlled to move the external electromagnetic coil to the optimal target position above the human body.
In this example, the target position may be solved from pose information of the capsule endoscope. The external control device can control the mechanical arm to move the external electromagnetic coil to the target position.
In one possible implementation manner of this example, a data table of correspondence between pose information and target position and current value may be established in advance through simulation. After pose information of the capsule endoscope is acquired, the optimal target position can be determined by querying the relation data table.
E) A low frequency slow current is applied to the orthogonal in vitro electromagnetic coil to generate a relevant magnetic field.
In this example, the number of orthogonal in vitro solenoids may be 3. After moving the external electromagnetic coils to the target position, a low frequency slow varying current may be applied to the 3 external electromagnetic coils using a driving power source, and the frequency of the current may be less than 5Hz. The vector direction of the magnetic field of the gradient generated by the slow-changing current is consistent with the target direction of the motion of the capsule endoscope (capsule magnet) as far as possible. Thus, the related magnetic field generated by the slow-varying current interacts with the permanent magnet in the capsule to drive the capsule endoscope to advance or retreat.
F) While driving the capsule to move, alternating current with special frequency and strong enough is superimposed in the orthogonal external electromagnetic coil to generate alternating magnetic field in the capsule.
In this example, the alternating current of a particular frequency and strong enough may be a high frequency alternating current, which may have a frequency greater than 100kHz and less than 10MHz. The alternating magnetic field generated by the high-frequency alternating current is mutually coupled with a charging receiving coil in the capsule, induced electromotive force and induced current are generated on the charging receiving coil, the induced electromotive force and the induced current are changed into direct current through a rectifying circuit, and the electric energy required by the operation of the capsule can be provided by charging a battery and a capacitor in the capsule.
Thus, the capsule endoscope can be charged at any time in the process of driving the capsule endoscope to move.
Referring to fig. 7, a schematic diagram of a method for multiplexing driving and charging of a capsule endoscope according to an embodiment of the present application may specifically include the following steps:
s701, acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information.
S702, moving a plurality of orthogonal external electromagnetic coils to the target position.
S703, applying a first current signal and a second current signal to the plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive the capsule endoscope in the human body to move and charge the capsule endoscope.
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
The steps in the above method embodiment are similar to the functions implemented by the extracorporeal control apparatus in the above system embodiment, and details related to the foregoing system embodiment may be referred to in the description of the foregoing system embodiment and will not be repeated herein.
Referring to fig. 8, a schematic diagram of a medical device according to an embodiment of the present application is shown. As shown in fig. 8, a medical device 800 in an embodiment of the present application includes: a processor 810, a memory 820 and a computer program 821 stored in said memory 820 and executable on said processor 810. The processor 810, when executing the computer program 821, implements the steps of the driving and charging multiplexing method embodiment of the capsule endoscope as described above, for example, steps S701-S703; or the processor 810, when executing the computer program 821, performs the functions of the extracorporeal control apparatus described above.
Illustratively, the computer program 821 may be partitioned into one or more modules/units that are stored in the memory 820 and executed by the processor 810 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution of the computer program 821 in the medical device 800. For example, the computer program 821 may be divided into a target position acquisition module, a solenoid movement module, and a current signal application module, each of which functions specifically as follows:
the target position acquisition module is used for acquiring pose information of the capsule endoscope in the human body and determining a target position according to the pose information;
a solenoid movement module for moving a plurality of orthogonal in-vitro solenoids to the target location;
The current signal application module is used for respectively applying a first current signal and a second current signal to the plurality of orthogonal external electromagnetic coils so as to simultaneously drive the capsule endoscope in the human body to move and charge the capsule endoscope;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
The medical device 800 may be an electronic device capable of performing the various functions of the extracorporeal control apparatus in the foregoing system embodiments. The medical device 800 may include, but is not limited to, a processor 810, a memory 820. It will be appreciated by those skilled in the art that fig. 8 is merely an example of a medical device 800 and is not meant to be limiting of the medical device 800, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the medical device 800 may also include input and output devices, network access devices, buses, etc.
The Processor 810 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 820 may be an internal storage unit of the medical device 800, such as a hard disk or a memory of the medical device 800. The memory 820 may also be an external storage device of the medical device 800, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. that are provided on the medical device 800. Further, the memory 820 may also include both internal and external storage units of the medical device 800. The memory 820 is used to store the computer program 821 and other programs and data required by the medical device 800. The memory 820 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also discloses medical equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the driving and charging multiplexing method of the capsule endoscope is realized when the processor executes the computer program.
The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and the computer program realizes the driving and charging multiplexing method of the capsule endoscope in the previous embodiments when being executed by a processor.
The embodiment of the application also discloses a computer program product, which when running on a computer, causes the computer to execute the driving and charging multiplexing method of the capsule endoscope.
The above embodiments are only for illustrating the technical solution of the present application, and are not limited thereto. Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (12)
1. The driving and charging multiplexing system of the capsule endoscope is characterized by comprising the capsule endoscope and an in-vitro control device; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external control device comprises a mechanical arm, and a plurality of orthogonal external electromagnetic coils are arranged at the tail end of the mechanical arm; wherein:
The external control device is used for respectively applying a first current signal and a second current signal to the external electromagnetic coil so as to drive the capsule endoscope to move and charge the capsule endoscope; the first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high frequency alternating signal for charging the capsule endoscope.
2. The system of claim 1, wherein the first current signal has a frequency less than 5Hz and the second current signal has a frequency greater than 100kHz and less than 10MHz.
3. The system of claim 1, wherein the capsule magnet is cylindrical and the charging coil is solenoid-type, the capsule magnet and the charging coil having a central axis coincident with a central axis of the capsule endoscope.
4. A system according to any one of claims 1-3, wherein the external control device is specifically configured to obtain pose information of the capsule endoscope in a human body, control the external electromagnetic coil to move to a target position according to the pose information, and apply the first current signal and the second current signal to the external electromagnetic coil at the target position, respectively, so as to drive the capsule endoscope to move and charge the capsule endoscope at the same time.
5. The system of claim 4, wherein the pose information comprises a position parameter and a direction parameter of the capsule endoscope, the in vitro control device further configured to determine the target position and a current value of the first current signal based on the pose information; wherein, after the first current signal is applied to the external electromagnetic coil at the target position, the acting force of the driving magnetic field generated based on the first current signal on the capsule endoscope in the central axis direction of the capsule magnet reaches a maximum value.
6. The system of claim 5, wherein the number of orthogonal external electromagnetic coils is three, and wherein the current values of the first current signal each comprise a respective magnitude of current applied to three of the external electromagnetic coils.
7. The system according to claim 5 or 6, wherein the in vitro control device stores a data table of correspondence between pose information and target position and current value, the data table of correspondence between pose information and target position and current value is obtained through pre-simulation, and the in vitro control device is specifically configured to obtain pose information of the capsule endoscope in a human body, and determine the current value of the first current signal and the target position corresponding to the pose information by querying the data table of correspondence between pose information and target position and current value.
8. The system of claim 4, wherein the external control device is further configured to acquire pose information of the capsule endoscope after the pose information of the capsule endoscope is changed due to the motion of the capsule endoscope, control the external electromagnetic coil to move to a new target position according to the changed pose information, and apply the first current signal and the second current signal to the external electromagnetic coil at the new target position, respectively.
9. The system of any one of claims 1-3 or 5-6 or 8, wherein the external control device is further configured to degauss the external solenoid and to turn off power to the external solenoid before applying the first and second current signals to the external solenoid, respectively.
10. The system of any one of claims 1-3 or 5-6 or 8, wherein the process of applying the first and second current signals to the external electromagnetic coil by the external control device is performed simultaneously or not entirely simultaneously, respectively.
11. A medical device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program implements the method of:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
The first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move; the second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
12. A computer readable storage medium storing a computer program, the computer program when executed by a processor implementing the method of:
Acquiring pose information of a capsule endoscope in a human body and determining a target position according to the pose information;
moving a plurality of orthogonal in vitro solenoids to the target location;
Applying a first current signal and a second current signal to a plurality of orthogonal external electromagnetic coils, respectively, to simultaneously drive and charge a capsule endoscope in a human body;
the first current signal is a low-frequency slow-change signal and is used for driving the capsule endoscope to move;
The second current signal is a high-frequency alternating signal and is used for charging the capsule endoscope; the capsule endoscope comprises a capsule magnet and a charging coil, wherein the charging coil is sleeved outside the capsule magnet; the external electromagnetic coil is fixedly arranged at the tail end of the mechanical arm of the external control device.
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