CN202489952U - Drive device of capsule endoscope - Google Patents
Drive device of capsule endoscope Download PDFInfo
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- CN202489952U CN202489952U CN2012201261999U CN201220126199U CN202489952U CN 202489952 U CN202489952 U CN 202489952U CN 2012201261999 U CN2012201261999 U CN 2012201261999U CN 201220126199 U CN201220126199 U CN 201220126199U CN 202489952 U CN202489952 U CN 202489952U
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Abstract
A drive device of a capsule endoscope comprises a signal generation module, a magnetic drive module and an upper computer which are arranged outside a body and also comprises a signal receiving and processing module and a permanent magnetic drive body which are used for being arranged in a capsule, wherein the signal generation module and the signal receiving and processing module form a real-time orientation tracking mechanism which is used for tracking the spatial orientation of the capsule endoscope in the body in real time; and the magnetic drive module acquires the spatial orientation of the capsule endoscope in real time by virtue of the real-time orientation tracking mechanism so as to generate the required external magnetic field gradient and direction to drive the permanent magnetic drive body to move, thus the capsule endoscope is driven to move and the movement direction of the capsule endoscope is controlled. According to the utility model, the non-contact continuous measurement of the spatial position and posture of the capsule endoscope is realized by adopting an alternating current excitation real-time orientation tracking technology, so the magnetic drive module is guided to adjust the gradient and filed direction of a magnetic field source, and the capsule endoscope is accurately and reliably driven and controlled.
Description
Technical field
This utility model relates to medical apparatus and instruments, particularly a kind of driving device of capsule endoscope.
Background technology
Along with micro photo-electro-mechanical technology, robotics, development of wireless communication devices, Medical Instruments begins to develop to microminiaturized, intelligent, woundless diagnosis direction, and electronic capsule becomes the research focus gradually.Capsule endoscope greatly expanded doctor's the digestive tract examining visual field, filled up the blind area of gastroscope, enteroscopy, solved the occult blood difficult problem of diagnosis aspect of disease of intestine and gastrointestinal tract for many years.Endoscope compares with conventional medical; That capsule endoscope has is simple to operate, inspection convenience, no wound, no pain, no cross infection, do not influence patient's advantages such as operate as normal; Especially small intestinal dubiety pathological changes is had very high diagnostic value, be described as the revolution and the direction of 21 century endoscope's development by medical circle.
Yet present capsule endoscope does not possess driving device, can only utilize digestive tract to wriggle naturally and travel through whole inspection area, and finally discharge with Excreta.This must cause in clinical practice is used, having following shortcoming: the observation process is uncontrolled, and the time of accomplishing inspection is longer; In moving process, can't intervene, can only tested image and physiological parameter transmitted and preserve, limit functions such as in indagation, doing biological tissue section and drug release treatment; Because it moves and relies on gastral wriggling fully, also possibly have problems such as capsule endoscope incarceration, Entogastric lingering.Therefore, the capsule endoscope of research and development tape drive mechanism meets the clinical practice needs more.
Driving to capsule endoscope; Existing drive scheme is mostly in the inner integrated drive system of capsule endoscope; There is following limitation: the one, driving mechanism will consume the inner energy of capsule endoscope, causes body live pond and external radio frequency energy supply can't satisfy its total energy demand thus; The 2nd, driving force is provided by frictional force between the outer wall of capsule endoscope and the digestive tract inwall, has limited actuating speed, and possibly cause damage to digestive tract.At present; The existing research worker of method that adopts external magnetic field to drive capsule endoscope proposes; But this method adopts the mode of the artificial adjustment of area of computer aided to carry out; Only find out the correct direction of advance of capsule endoscope, adjust the capsule endoscope direction of motion with this according to the intestinal inwall image of capsule endoscope collection.Method according to the intestinal inwall image adjustment capsule direction of motion is not easy to operation, can't realizes regulating automatically accurately and reliably.
The utility model content
The purpose of this utility model just is to overcome the deficiency of above-mentioned prior art, and a kind of driving device of capsule endoscope is provided.
For realizing above-mentioned purpose; This utility model adopts following design: a kind of driving device of capsule endoscope; Comprise being used to be arranged on external signal generating module, magnetically-actuated module and host computer, and be used to be arranged on signal receiving processing module and the permanent magnetism driving body in the capsule; Signal generating module and signal receiving processing module are formed orientation real-time tracking mechanism, are used for real-time tracking capsule endoscope dimensional orientation in vivo; The magnetically-actuated module is obtained the dimensional orientation of capsule endoscope in real time by orientation real-time tracking mechanism, produces required external magnetic field gradient and direction, drives the motion of permanent magnetism driving body, thereby drives the capsule endoscope motion and control its direction of motion.
Described signal generating module comprises alternation excitation sequential control circuit and magnet exciting coil array, and the output of alternation excitation sequential control circuit connects the input of magnet exciting coil array, and the magnet exciting coil array produces the alternating magnetic field signal; Described signal receiving processing module comprises miniature three-axle magnetic field pick off, self-adapting signal modulate circuit and the wireless data transtation mission circuit that order telecom-connects; The alternating magnetic field signal of miniature three-axle magnetic field sensor magnet exciting coil array, and be the signal of telecommunication with detected conversion of signals; The self-adapting signal modulate circuit is handled this signal of telecommunication, extracts useful signal; Useful signal is sent to external magnetically-actuated module through the wireless data transtation mission circuit is wireless.
Described magnetically-actuated module comprises wireless data receiving circuit, high speed signal treatment circuit, Magnetic Field Source Drive and Control Circuit and the three-dimensional orthogonal Magnetic Field Source that order telecom-connects, and the high speed signal treatment circuit also telecom-connects with host computer; The wireless data receiving circuit receives the signal of signal receiving processing module, and the three-dimensional orthogonal Magnetic Field Source provides driving magnetic force to the permanent magnetism driving body.
Described three-dimensional orthogonal Magnetic Field Source comprises six multilamellar cylindrical coils; And the coil that forms three groups of quadrature arrangement is right; Every group of coil be to being made up of two co-axial cylindrical coils, and the current opposite in direction of two cylindrical coils can obtain the gradient magnetic of coil axis direction; Three groups of crossed coils of said Magnetic Field Source drive control circuit can synthesize the gradient magnetic of any direction, required size to producing required driving magnetic field gradient, drive the motion of permanent magnetism driving body, thereby drive the capsule endoscope motion and control its direction of motion.
Described self-adapting signal modulate circuit comprises adaptive gain control and filtration module, virtual value detection module, sampling and AD modular converter and signal controlling module; The data output of adaptive gain control and filtration module connects the virtual value detection module, and the data output of virtual value detection module connects sampling and AD modular converter, and the data output of sampling and AD modular converter connects the signal controlling module; A plurality of signal output parts of signal controlling module connect adaptive gain control and filtration module, virtual value detection module and sampling and AD modular converter respectively, control each module by the flow process co-ordination.
The capsule endoscope field drives control system that guiding is followed the tracks of in this utility model orientation has following advantage and characteristics:
1, the external magnetic field type of drive that combines the capsule endoscope location to follow the tracks of guiding makes drive system need not consume capsule body energy, and the built-in actuator of capsule simple and reliable, be easy to microminiaturization.
2, adopt AC excitation orientation real time technique for tracking; Realized the contactless continuous measurement of capsule endoscope locus and attitude; With this gradient magnitude and magnetic direction that guides external magnetic field driving apparatus adjustment Magnetic Field Source, realize capsule endoscope drive controlling accurately and reliably.
3, AC excitation orientation real time technique for tracking capacity of resisting disturbance is strong, does not receive the influence of the static magnetic field of cylindrical permanent magnet generation.And, adopted the mode with the external magnetic field driving apparatus time-sharing work, guarantee that orientation tracking means and external magnetic field driving control device are independent of each other.
4, the three-dimensional orthogonal Magnetic Field Source adopts six multilamellar cylindrical coils, and the coil that forms three groups of quadrature arrangement is right.Wherein, every group of coil be to being made up of two co-axial cylindrical coils, and the current opposite in direction of two coils obtains the gradient magnetic of coil axis direction thus.To producing required driving magnetic field gradient, can synthesize the gradient magnetic of any direction, required size by three groups of crossed coils of Magnetic Field Source drive control circuit.
Description of drawings
Fig. 1 is the structured flowchart of this utility model.
Fig. 2 is the structured flowchart of the self-adapting signal modulate circuit in this utility model.
The specific embodiment
Referring to Fig. 1, the driving device of this utility model capsule endoscope comprises being used to be arranged on external signal generating module 1, magnetically-actuated module 2 and host computer 3, and is used to be arranged on signal receiving processing module 4 and permanent magnetism driving body 5 in the capsule.Signal generating module 1 and signal receiving processing module 4 composition orientation real-time tracking mechanisms are used for real-time tracking capsule endoscope dimensional orientation in vivo; Magnetically-actuated module 2 is obtained the dimensional orientation of capsule endoscope in real time by orientation real-time tracking mechanism, produces required external magnetic field gradient and direction, drives 5 motions of permanent magnetism driving body, thereby drives the capsule endoscope motion and control its direction of motion.
Signal generating module 1 comprises alternation excitation sequential control circuit 11 and magnet exciting coil array 12; The output of alternation excitation sequential control circuit 11 connects the input of magnet exciting coil array 12; Alternation excitation sequential control circuit 11 produces sine wave signal; And pass through sequential control circuit wherein, and guaranteeing that each magnet exciting coil timesharing is excitatory, timesharing produces the alternating magnetic field signal.
Signal receiving processing module 4 comprises miniature three-axle magnetic field pick off 41, self-adapting signal modulate circuit 42 and the wireless data transtation mission circuit 43 that order telecom-connects; Miniature three-axle magnetic field pick off 41 detects the alternating magnetic field signal of magnet exciting coil arrays 12, and is the signal of telecommunication with detected conversion of signals; Self-adapting signal modulate circuit 42 is handled this signal of telecommunication, extracts useful signal; Useful signal is sent to external magnetically-actuated module 2 through wireless data transtation mission circuit 43 is wireless.
Magnetically-actuated module 2 comprises wireless data receiving circuit 21, high speed signal treatment circuit 22, Magnetic Field Source Drive and Control Circuit 23 and the three-dimensional orthogonal Magnetic Field Source 24 that order telecom-connects, and high speed signal treatment circuit 22 also telecom-connects with host computer 3; Wireless data receiving circuit 21 receives the signal of signal receiving processing module 4, and three-dimensional orthogonal Magnetic Field Source 24 provides driving magnetic force to permanent magnetism driving body 5.
Three-dimensional orthogonal Magnetic Field Source 24 comprises six multilamellar cylindrical coils, and it is right to form the coil of three groups of quadrature arrangement, and every group of coil be to being made up of two co-axial cylindrical coils, and the current opposite in direction of two cylindrical coils can obtain the gradient magnetic of coil axis direction; Three groups of crossed coils of said Magnetic Field Source drive control circuit can synthesize the gradient magnetic of any direction, required size to producing required driving magnetic field gradient, drive the motion of permanent magnetism driving body, thereby drive the capsule endoscope motion and control its direction of motion.
Referring to Fig. 2, self-adapting signal modulate circuit 42 comprises adaptive gain control and filtration module 421, virtual value detection module 422, sampling and AD modular converter 423 and signal controlling module 424.The data output of adaptive gain control and filtration module 421 connects virtual value detection module 422; The data output of virtual value detection module 422 connects sampling and AD modular converter 423, and the data output of sampling and AD modular converter 423 connects signal controlling module 424; A plurality of signal output parts of signal controlling module 424 connect adaptive gain control and filtration module 421, virtual value detection module 422 and sampling and AD modular converter 423 respectively, control each module by the flow process co-ordination.
The operation principle of this utility model is; The signal receiving processing module of being made up of miniature three-axle magnetic field pick off, self-adapting signal modulate circuit and wireless data transtation mission circuit 4 is packaged in the capsule; Along with capsule endoscope is in the digestive tract together, the signal generating module of being made up of alternation excitation sequential control circuit and magnet exciting coil array 1 is arranged in the relevant position of body surface.During initialization, alternation excitation sequential control circuit at first carries out handshake communication with the wireless data transtation mission circuit.After the handshake communication success, by alternation excitation sequential control circuit during according to excitation each magnet exciting coil of ordered pair to carry out timesharing excitatory, magnet exciting coil is worked successively, produce the alternating magnetic field of CF.Miniature three-axle magnetic field sensor arrives the variation of space alternating magnetic field, and converts the magnetic signal of space alternation into the signal of telecommunication, realizes the electrical measurement of non-electrical signal.The self-adapting signal modulate circuit carries out the characteristic quantity of self adaptation amplification, filtering, extraction alternating signal, finally obtains comprising the useful signal of telecommunication of alternate electrical signal characteristic quantity the output of miniature three-axle magnetic field pick off; Useful signal is carried out writing the wireless data transtation mission circuit after data sampling and the AD conversion, be wirelessly transmitted to external magnetically-actuated module 2.
Because external magnet exciting coil array has a plurality of magnet exciting coil time-sharing works; When the magnet exciting coil of diverse location is worked; The signal magnitude that miniature three-axle magnetic field pick off receives is different; Therefore, the miniature three-axle magnetic field pick off in the capsule receives the magnetic field data of the magnet exciting coil of diverse location in the generation of place, capsule orientation successively according to work schedule, and guarantees to receive the corresponding relation of data and magnet exciting coil.The magnet exciting coil excitation of each round is all undertaken by identical excitation sequential; Before each takes turns the excitation beginning; Make alternation excitation sequential control circuit and wireless data transtation mission circuit carry out handshake communication; Then after this receive data successively, can the magnetic field data of miniature three-axle magnetic field sensor be mapped with corresponding magnet exciting coil according to the excitation sequential.
The data that wireless data receiving circuit wireless receiving wireless data transtation mission circuit transmits, and with data deliver to that the high speed signal treatment circuit is analyzed, processing and computing.Space magnetic field distribution by the AC excitation coil can know that the orientation of residing alternating magnetic field intensity of capsule endoscope and capsule endoscope has definite functional relation.The signal of telecommunication and the capsule endoscope space coordinates of therefore miniature three-axle magnetic field pick off output have functional relationship; The value of electrical signals of on miniature three-axle magnetic field pick off, exporting according to the diverse location magnet exciting coil; The functional relationship of combined magnetic field intensity and dimensional orientation; But simultaneous obtains a Nonlinear System of Equations, can be obtained the dimensional orientation of object by optimized Algorithm.
Simultaneously, the high speed signal treatment circuit also receives the drive controlling instruction of host computer.The high speed signal treatment circuit obtains capsular locus and attitude data on the one hand, according to the drive controlling instruction of host computer, calculates required magnetic field gradient and magnetic direction on the other hand.Encouraged for the three-dimensional orthogonal Magnetic Field Source by the Magnetic Field Source Drive and Control Circuit, the coil of giving three groups of quadrature arrangement successively is to importing required exciting current, thereby produces required magnetic field gradient and direction, makes capsule endoscope in digestive tract, accomplish translation and rotation.
Orientation real-time tracking mechanism adopts the alternating magnetic field tracking, and capacity of resisting disturbance is strong, does not receive the influence of the static magnetic field of cylindrical magnet driving body generation.And, adopted the mode with the external magnetic field driving apparatus time-sharing work, guarantee that orientation tracking means and external magnetic field driving control device are independent of each other.
Claims (5)
1. the driving device of a capsule endoscope is characterized in that: comprise being used to be arranged on external signal generating module, magnetically-actuated module and host computer, and be used to be arranged on signal receiving processing module and the permanent magnetism driving body in the capsule; Signal generating module and signal receiving processing module are formed orientation real-time tracking mechanism, are used for real-time tracking capsule endoscope dimensional orientation in vivo; The magnetically-actuated module is obtained the dimensional orientation of capsule endoscope in real time by orientation real-time tracking mechanism, produces required external magnetic field gradient and direction, drives the motion of permanent magnetism driving body, thereby drives the capsule endoscope motion and control its direction of motion.
2. the driving device of capsule endoscope as claimed in claim 1; It is characterized in that: described signal generating module comprises alternation excitation sequential control circuit and magnet exciting coil array; The output of alternation excitation sequential control circuit connects the input of magnet exciting coil array, and the magnet exciting coil array produces the alternating magnetic field signal; Described signal receiving processing module comprises miniature three-axle magnetic field pick off, self-adapting signal modulate circuit and the wireless data transtation mission circuit that order telecom-connects; The alternating magnetic field signal of miniature three-axle magnetic field sensor magnet exciting coil array, and be the signal of telecommunication with detected conversion of signals; The self-adapting signal modulate circuit is handled this signal of telecommunication, extracts useful signal; Useful signal is sent to external magnetically-actuated module through the wireless data transtation mission circuit is wireless.
3. the driving device of capsule endoscope as claimed in claim 1; It is characterized in that: described magnetically-actuated module comprises wireless data receiving circuit, high speed signal treatment circuit, Magnetic Field Source Drive and Control Circuit and the three-dimensional orthogonal Magnetic Field Source that order telecom-connects, and the high speed signal treatment circuit also telecom-connects with host computer; The wireless data receiving circuit receives the signal of signal receiving processing module, and the three-dimensional orthogonal Magnetic Field Source provides driving magnetic force to the permanent magnetism driving body.
4. the driving device of capsule endoscope as claimed in claim 3; It is characterized in that: described three-dimensional orthogonal Magnetic Field Source comprises six multilamellar cylindrical coils; And the coil that forms three groups of quadrature arrangement is right; Every group of coil be to being made up of two co-axial cylindrical coils, and the current opposite in direction of two cylindrical coils can obtain the gradient magnetic of coil axis direction; Three groups of crossed coils of said Magnetic Field Source drive control circuit can synthesize the gradient magnetic of any direction, required size to producing required driving magnetic field gradient, drive the motion of permanent magnetism driving body, thereby drive the capsule endoscope motion and control its direction of motion.
5. the driving device of capsule endoscope as claimed in claim 2, it is characterized in that: described self-adapting signal modulate circuit comprises adaptive gain control and filtration module, virtual value detection module, sampling and AD modular converter and signal controlling module; The data output of adaptive gain control and filtration module connects the virtual value detection module, and the data output of virtual value detection module connects sampling and AD modular converter, and the data output of sampling and AD modular converter connects the signal controlling module; A plurality of signal output parts of signal controlling module connect adaptive gain control and filtration module, virtual value detection module and sampling and AD modular converter respectively, control each module by the flow process co-ordination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201261999U CN202489952U (en) | 2012-03-29 | 2012-03-29 | Drive device of capsule endoscope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201261999U CN202489952U (en) | 2012-03-29 | 2012-03-29 | Drive device of capsule endoscope |
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| CN202489952U true CN202489952U (en) | 2012-10-17 |
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| CN2012201261999U Expired - Fee Related CN202489952U (en) | 2012-03-29 | 2012-03-29 | Drive device of capsule endoscope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356150A (en) * | 2012-03-29 | 2013-10-23 | 上海理工大学 | Capsule endoscope magnetic field driving system under orientation tracking guide |
| CN103784144A (en) * | 2012-10-30 | 2014-05-14 | 上海理工大学 | Sine alternating magnetic field generating device with multiple magnetic field sources |
| CN104116481A (en) * | 2013-04-27 | 2014-10-29 | 上海理工大学 | Adjustable magnetic field generating device under capsule endoscope tracking system |
| CN111631669A (en) * | 2020-06-03 | 2020-09-08 | 湖北科技学院 | Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method |
| CN112837887A (en) * | 2019-11-25 | 2021-05-25 | 北京华航无线电测量研究所 | Local alternating magnetic field generating device of time division multiplexing system |
-
2012
- 2012-03-29 CN CN2012201261999U patent/CN202489952U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356150A (en) * | 2012-03-29 | 2013-10-23 | 上海理工大学 | Capsule endoscope magnetic field driving system under orientation tracking guide |
| CN103784144A (en) * | 2012-10-30 | 2014-05-14 | 上海理工大学 | Sine alternating magnetic field generating device with multiple magnetic field sources |
| CN103784144B (en) * | 2012-10-30 | 2015-10-21 | 上海理工大学 | The sine alternating magnetic field generating means of many Magnetic Field Source |
| CN104116481A (en) * | 2013-04-27 | 2014-10-29 | 上海理工大学 | Adjustable magnetic field generating device under capsule endoscope tracking system |
| CN104116481B (en) * | 2013-04-27 | 2016-04-20 | 上海理工大学 | Adjustable field generator for magnetic under capsule endoscope tracking system |
| CN112837887A (en) * | 2019-11-25 | 2021-05-25 | 北京华航无线电测量研究所 | Local alternating magnetic field generating device of time division multiplexing system |
| CN111631669A (en) * | 2020-06-03 | 2020-09-08 | 湖北科技学院 | Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121017 Termination date: 20130329 |