CN201840481U - Detection system and position control device - Google Patents
Detection system and position control device Download PDFInfo
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- CN201840481U CN201840481U CN2010205886849U CN201020588684U CN201840481U CN 201840481 U CN201840481 U CN 201840481U CN 2010205886849 U CN2010205886849 U CN 2010205886849U CN 201020588684 U CN201020588684 U CN 201020588684U CN 201840481 U CN201840481 U CN 201840481U
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Abstract
The utility model discloses a detection system and a position control device. The detection system comprises a position control device outside a moving piece and a controlled device inside the moving piece. The position control device includes a posture control module, a three-dimensional speed measuring module and a signal processing module, wherein the posture control module is capable of generating magnetic field and is a passive device, the three-dimensional speed measuring module measures three-dimensional acceleration signals generated by the posture control module in motion and transmits the three-dimensional acceleration signals to the signal processing module, and the signal processing module receives the three-dimensional acceleration signals and image and physiological parameter signals from the controlled device and transmits all the signals to an image station for displaying. The controlled module can be controlled to advance, back, turn, overlook, look up, stop and the like by applying the detection system and the position control device. During inspection, a focus can be observed repeatedly for multiple times according to needs.
Description
Technical field
This utility model relates to technical field of medical instruments, particularly a kind of detection system and a kind of position control that is applied to endoscopic system.
Background technology
Capsule endoscope has become a kind of important instrument of hospital's digestive tract diagnosis.By swallowable capsule endoscope, make capsule endoscope in human body, travel forward by peristalsis of the digest tract, and, with the proal while of digestive tract, absorb gastral image, to be used for diagnosis.
Yet the image that photographs in this way has very big randomness, can't carry out observation multiple, multi-angle to possible focus, has very big passivity and limitation in the digestive tract disease diagnosis.
The utility model content
The purpose of this utility model embodiment is to provide a kind of detection system and a kind of position control, can carry out the observation of repetition, multi-angle as required to assigned address, thereby make detected information clearer, accurate.
This utility model embodiment provides a kind of detection system, is applicable to that application detects in the endoscope in the medical science, and described detection system comprises:
Be in the position control and the controlled unit that is in live body inside of live body outside, wherein,
Described controlled unit comprises:
Magnet drives controlled unit and produces motion under the effect in magnetic field;
The information collection and treatment device absorbs described controlled unit place external image and physiological parameter signals, and image and the physiological parameter signals of being absorbed sent to described controlled unit outside;
Described position control comprises:
The attitude control module can produce magnetic field; Described attitude control module is a passive device;
The three-dimensional acceleration measurement module is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Signal processing module receives described three-dimensional acceleration signal and from the image and the physiological parameter signals of described controlled unit, sends to image workstation to show.
Wherein, the attitude control module in the described position control is permanent magnet or electromagnet.
Wherein, when described position control moved, described controlled unit was with the motion campaign of described position control.
Wherein, the motion of described controlled unit comprises that top to bottom, left and right, front and rear move, and rotates and stir.
Wherein, described in vivo have a medium;
Described controlled unit is in the described medium, the buoyancy effect that produced by described medium, the poised state behind the maintenance posture changing.
Wherein, described controlled unit is a capsule endoscope.
Wherein, described system also comprises:
Hand-held monitor receives image and physiological parameter signals from signal processing module in the position control, carries out pictorial display.
Wherein, described system also comprises:
Supporting mechanism is in the live body outside, and described position control is supported.
Wherein, the signal processing module in the described position control also is used to preserve the described three-dimensional acceleration signal that receives and from the image and the physiological parameter signals of described controlled unit.
This utility model embodiment also provides a kind of position control, is applicable to that application detects in the endoscope in the medical science, and described position control is in the live body outside, specifically comprises:
The attitude control module can produce magnetic field; Described attitude control module is a passive device;
The three-dimensional acceleration measurement module is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Signal processing module receives described three-dimensional acceleration signal and from the image and the physiological parameter signals of described controlled unit, sends to computer to show.
Use this utility model embodiment, utilize outside position control to control the in vivo position of controlled module and the change of attitude, operation such as make that controlled module can controlled realization be advanced, retreats, turns to, overlooks, looked up and stop.In checking process, can carry out repetition, repeatedly observe focus as required.
Description of drawings
In order to be illustrated more clearly in the technical scheme among this utility model embodiment, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is according to a kind of detection system structural representation of this utility model embodiment;
Fig. 2 is the view of capsule endoscope when static of the attitude controller 1 according to this utility model embodiment;
Fig. 3 is the view of capsule endoscope during according to attitude controller 1 rotation of this utility model embodiment;
Fig. 4 is along the reverse view of capsule endoscope when mobile of X-axis according to the attitude controller 1 of this utility model embodiment;
Fig. 5 is the view according to the attitude controller 1 of this utility model embodiment capsule endoscope when the X-axis forward moves;
Fig. 6 be according to the attitude controller 1 of this utility model embodiment along y-axis shift the view of capsule endoscope when moving;
Fig. 7 is the supporting mechanism sketch map according to this utility model one preferred embodiment;
Fig. 8 is the supporting mechanism sketch map according to another preferred embodiment of this utility model;
Fig. 9 is a kind of position control structural representation according to this utility model embodiment.
The specific embodiment
Below in conjunction with the accompanying drawing among this utility model embodiment, the technical scheme among this utility model embodiment is clearly and completely described, obviously, described embodiment only is this utility model part embodiment, rather than whole embodiment.Based on the embodiment in this utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of this utility model protection.
Referring to Fig. 1, it is a kind of detection system structural representation according to this utility model embodiment, and this detection system is applicable to the endoscope's detection application in the medical science, can specifically comprise: the position control 100 and the controlled unit 200 that is in live body inside that are in the live body outside, wherein
Controlled unit 200 can specifically comprise:
Information collection and treatment device 202 absorbs described controlled unit place external image and physiological parameter signals, and image and the physiological parameter signals of being absorbed sent to described controlled unit outside;
Attitude control module 101 can produce magnetic field; Described attitude control module is a passive device; Concrete, this attitude control module 101 can be to be permanent magnet, also can be electromagnet;
Three-dimensional acceleration measurement module 102 is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Above-mentioned image workstation can be microcomputer or computer etc., the shown content of above-mentioned image workstation can be any content according to actual needs, as the image of controlled unit picked-up, physiological parameter or according to image as shown in the physiological parameter or the like, this paper does not do qualification to the image workstation content displayed.
Have, signal processing module 103 can also be preserved the three-dimensional acceleration signal that receives and from the image and the physiological parameter signals of described controlled unit again.
Need to prove that when position control 100 motions, controlled unit 200 is with the motion campaign of position control 100.Particularly, position control 100 can be done horizontal movement respectively along X-axis, Y-axis, Z axle, can also rotate, accordingly, the motion of controlled unit 200 comprise stir, about, up and down, move forward and backward, and rotate, thereby realize freely controlling controlled unit 200.
Need to prove in vivo have medium, this medium is the transparent medium of printing opacity, as water, air etc.; Controlled unit is in the above-mentioned medium, the buoyancy effect that produced by described medium, the poised state behind the maintenance posture changing.Like this, when position control 100 was stopped at any one position, controlled unit 200 all can keep current posture substantially, so was very beneficial for can carrying out repetition, observing repeatedly focus in checking process.
Like this, utilize outside position control to control the in vivo position of controlled module and the change of attitude, operation such as make that controlled module can controlled realization be advanced, retreats, turns to, overlooks, looked up and stop.And, owing to increased the three-dimensional acceleration measurement module in position control inside, the acceleration of three directions of collection position control device (all around, up and down) in real time, image workstation is according to the three-dimensional acceleration signal that obtains, can be acted on the size of the power of three directions on the position control (all around, up and down) at that time.
Need to prove that detection system shown in Figure 1 can also comprise hand-held monitor 300, receives image and physiological parameter signals from signal processing module in the position control, carries out pictorial display.
In order to produce enough magnetic field intensities, the volume of employed permanent magnet causes the weight of permanent magnet bigger more greatly in the position control 100, for simplifying the operation and reducing the heavy burdens, can increase a supporting mechanism supports position control 100, like this, can also comprise supporting mechanism 400 among the described embodiment of Fig. 1, be in the live body outside, described position control is supported.Concrete, this supporting mechanism can be the device with pulley structure, also can be a supporting pad etc., herein, the specific implementation of supporting mechanism is not done qualification,, and position control 100 is moved get final product as long as can realize support to position control 100.
Need to prove that above-mentioned controlled unit 200 can be capsule endoscope.
Be that attitude controller, controlled unit are that capsule endoscope is an example with position control 100 below, the control to each direction of motion of capsule endoscope elaborates again to attitude controller by Fig. 2-Fig. 6.
Referring to Fig. 2, it is the view of attitude controller 1 according to this utility model embodiment capsule endoscope when static.
Referring to Fig. 3, it is the view of capsule endoscope during according to attitude controller 1 rotation of this utility model embodiment.
The person under inspection lies low on bed 5, and capsule endoscope 2 is in the cavity 3 of live body such as human body 4, and when attitude controller 1 rotation, capsule endoscope 2 rotates along with attitude controller 1 rotation, and its direction of rotation is identical with the direction of rotation of attitude controller 1.
Referring to Fig. 4,5, it is the view according to the attitude controller 1 of this utility model embodiment capsule endoscope when X-axis moves.
The person under inspection lies low on bed 5, and capsule endoscope 2 is in the cavity 3 of live body such as human body 4, and when rotating, capsule endoscope 2 is in overlooks or look up state along X-axis (clockwise, counterclockwise) at attitude controller 1; That is to say, when attitude controller 1 during along the X-axis linear movement, capsule endoscope 2 will be around the linear rolling of the capsule endoscope longitudinal axis, along X, Y-axis (clockwise, counterclockwise) motion, will under the control of controller, realize the scanning fully in 2 pairs of human bodies of capsule endoscope, 4 cavitys 3 along X, Y-axis linear movement capsule endoscope 2 at attitude controller 1 again; Attitude controller 1 moves up and down along the Z axle, just can regulate the controlling magnetic field intensity that attitude controller 1 acts on capsule endoscope 2 in real time, realizes freely controlling capsule endoscope 2.
Referring to Fig. 6, its be according to the attitude controller 1 of this utility model embodiment along y-axis shift the view of capsule endoscope when moving.
The person under inspection is positioned on the bed 5, and capsule endoscope 2 is in the cavity 3 of live body such as human body 4, and when Y-axis was moved, capsule endoscope 2 was along moving with attitude controller 1 direction in the same way at attitude controller 1.That is to say, when attitude controller 1 during along the Y-axis linear movement, capsule endoscope 2 will be around the linear rolling of capsule endoscope transverse axis, along X, Y-axis (clockwise, counterclockwise) motion, will under the control of controller, realize the scanning fully in 2 pairs of human bodies of capsule endoscope, 4 cavitys 3 along X, Y-axis linear movement capsule endoscope 2 at attitude controller 1 again; Attitude controller 1 moves up and down along the Z axle, and just the controlling magnetic field intensity that acts on capsule endoscope 2 of adjustment control 1 in real time realizes freely controlling capsule endoscope 2
As seen, in the magnetic field range of attitude controller 1, when attitude controller 1 was stopped at any one position, capsule endoscope 2 all can keep current posture substantially, so was very beneficial for the repeated observation that the doctor carries out focus when checking.Owing to have medium such as water or air etc. in the cavity, the buoyancy effect that this capsule endoscope 2 is produced by medium can keep the poised state behind the posture changing, i.e. ∑ F=0, and ∑ F is suffered making a concerted effort.For the capsule endoscope 2 that is in poised state, need change this poised state by the acceleration that attitude controller 1 produces, i.e. ∑ F=ka
i, coefficient or inertia constant that k is relevant with the quality of attitude controller 1, a
iFor producing the acceleration of i direction.
Like this, owing in attitude controller 1, there is the three-dimensional acceleration measurement module, can gather the acceleration of 1 three directions of attitude controller (all around, up and down) in real time, image workstation is according to the three-dimensional acceleration signal that obtains, can be acted on the size of the power of three directions on the attitude controller 1 (all around, up and down) at that time.
In order to produce enough magnetic field intensities, the volume of employed permanent magnet is big and cause the weight of permanent magnet bigger in the attitude controller 1, for the operation of simplifying attitude controller 1 and reduce the heavy burdens, needs a supporting mechanism that attitude controller 1 is supported:
Referring to Fig. 7, it is the supporting mechanism sketch map according to this utility model one preferred embodiment.This scheme realizes by the mode that hangs attitude controller 1, concrete, one end of this supporting mechanism connects attitude controller 1, the other end carries out counterweight according to the quality of attitude controller 1, and attitude controller 1 is connected by the rope that passes on the pulley 6 that is fixed in a certain mechanism with mass 7 centres.By pulley 6, can make attitude controller 1 carry out multi-direction motions such as top to bottom, left and right, front and rear and rotation.
Referring to Fig. 8, it is the supporting mechanism sketch map according to another preferred embodiment of this utility model.This supporting structure is a supporting pad 8, but in the middle of the supporting pad 8 implant is arranged, as filling as flexible material such as cotton and/or gas or liquid etc.Attitude controller 1 can carry out multi-direction motions such as top to bottom, left and right, front and rear and rotation under the effect of external force.
This utility model embodiment also provides a kind of position control, referring to Fig. 9, is applicable to that application detects in the endoscope in the medical science, and described position control is in the live body outside, can specifically comprise:
Attitude control module 901 can produce magnetic field; Described attitude control module is a passive device;
Three-dimensional acceleration measurement module 902 is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Can control the in vivo position of controlled module and the change of attitude by position control, make controlled module controlled realization operation such as to advance, retreat, turn to, overlook, to look up and to stop.And, owing to have the three-dimensional acceleration measurement module in position control inside, the acceleration of three directions of collection position control device (all around, up and down) in real time, image workstation is according to the three-dimensional acceleration signal that obtains, can be acted on the size of the power of three directions on the position control (all around, up and down) at that time.
Need to prove, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make and comprise that process, method, article or the equipment of a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as this process, method, article or the inherent key element of equipment.Do not having under the situation of more restrictions, the key element that limits by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
The above is preferred embodiment of the present utility model only, is not to be used to limit protection domain of the present utility model.All any modifications of within spirit of the present utility model and principle, being done, be equal to replacement, improvement etc., all be included in the protection domain of the present utility model.
Claims (10)
1. a detection system is characterized in that, is applicable to that application detects in the endoscope in the medical science, and described detection system comprises:
Be in the position control and the controlled unit that is in live body inside of live body outside, wherein,
Described controlled unit comprises:
Magnet drives controlled unit and produces motion under the effect in magnetic field;
The information collection and treatment device absorbs described controlled unit place external image and physiological parameter signals, and image and the physiological parameter signals of being absorbed sent to described controlled unit outside;
Described position control comprises:
The attitude control module can produce magnetic field; Described attitude control module is a passive device;
The three-dimensional acceleration measurement module is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Signal processing module receives described three-dimensional acceleration signal and from the image and the physiological parameter signals of described controlled unit, sends to image workstation to show.
2. system according to claim 1 is characterized in that, the attitude control module in the described position control is permanent magnet or electromagnet.
3. system according to claim 2 is characterized in that, when described position control moved, described controlled unit was with the motion campaign of described position control.
4. system according to claim 3 is characterized in that, the motion of described controlled unit comprises that top to bottom, left and right, front and rear move, and rotates and stir.
5. according to the arbitrary described system of claim 1-3, it is characterized in that described in vivo have a medium;
Described controlled unit is in the described medium, the buoyancy effect that produced by described medium, the poised state behind the maintenance posture changing.
6. system according to claim 5 is characterized in that, described controlled unit is a capsule endoscope.
7. according to the arbitrary described system of claim 1-3, it is characterized in that described system also comprises:
Hand-held monitor receives image and physiological parameter signals from signal processing module in the position control, carries out pictorial display.
8. according to the arbitrary described system of claim 1-3, it is characterized in that described system also comprises:
Supporting mechanism is in the live body outside, and described position control is supported.
9. system according to claim 1 is characterized in that, the signal processing module in the described position control also is used to preserve the described three-dimensional acceleration signal that receives and from the image and the physiological parameter signals of described controlled unit.
10. a position control is characterized in that, is applicable to that application detects in the endoscope in the medical science, and described position control is in the live body outside, specifically comprises:
The attitude control module can produce magnetic field; Described attitude control module is a passive device;
The three-dimensional acceleration measurement module is measured the three-dimensional acceleration signal that described attitude control module is produced at the volley, sends described three-dimensional acceleration signal to signal processing module;
Signal processing module receives described three-dimensional acceleration signal and from the image and the physiological parameter signals of described controlled unit, sends to computer to show.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205886849U CN201840481U (en) | 2010-11-02 | 2010-11-02 | Detection system and position control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205886849U CN201840481U (en) | 2010-11-02 | 2010-11-02 | Detection system and position control device |
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| CN201840481U true CN201840481U (en) | 2011-05-25 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101961241A (en) * | 2010-11-02 | 2011-02-02 | 重庆金山科技（集团）有限公司 | Detection system and position control device |
| CN102302357A (en) * | 2011-06-22 | 2012-01-04 | 清华大学 | Saccade endoscope and attitude sensing system used for same |
| WO2017206695A1 (en) * | 2016-05-29 | 2017-12-07 | Ankon Medical Technologies (Shanghai), Ltd | System and method for using capsule device |
| CN109345912A (en) * | 2018-11-21 | 2019-02-15 | 宁波聚创工业设计有限公司 | A kind of wristband type universal serial milk cow rectum localization examination intelligent tutoring device and teaching method |
-
2010
- 2010-11-02 CN CN2010205886849U patent/CN201840481U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101961241A (en) * | 2010-11-02 | 2011-02-02 | 重庆金山科技（集团）有限公司 | Detection system and position control device |
| CN101961241B (en) * | 2010-11-02 | 2013-07-03 | 重庆金山科技（集团）有限公司 | Detection system and position control device |
| CN102302357A (en) * | 2011-06-22 | 2012-01-04 | 清华大学 | Saccade endoscope and attitude sensing system used for same |
| WO2017206695A1 (en) * | 2016-05-29 | 2017-12-07 | Ankon Medical Technologies (Shanghai), Ltd | System and method for using capsule device |
| CN109345912A (en) * | 2018-11-21 | 2019-02-15 | 宁波聚创工业设计有限公司 | A kind of wristband type universal serial milk cow rectum localization examination intelligent tutoring device and teaching method |
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Granted publication date: 20110525 Effective date of abandoning: 20130703 |
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