CN202942081U - Control system of moving track of capsule endoscope - Google Patents
Control system of moving track of capsule endoscope Download PDFInfo
- Publication number
- CN202942081U CN202942081U CN2012207104563U CN201220710456U CN202942081U CN 202942081 U CN202942081 U CN 202942081U CN 2012207104563 U CN2012207104563 U CN 2012207104563U CN 201220710456 U CN201220710456 U CN 201220710456U CN 202942081 U CN202942081 U CN 202942081U
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- Prior art keywords
- capsule endoscope
- solenoid
- control system
- handle
- coordinate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
The utility model relates to a control system of a moving track of a capsule endoscope. The control system comprises a plurality of electromagnetic coils, an electromagnet power supply system, a microprocessor and a handle control system, wherein the handle control system is electrically connected with the electromagnet power supply system through the microprocessor; and the electromagnet power supply system is electrically connected with a plurality of electromagnetic coils which are not on the same plane. The coordinate information is generated by pushing the handle control system through hands, converted into current amplitude value associated with the corresponding electromagnetic coil through the microprocessor and output to the corresponding electromagnetic coil, so that the electromagnetic coil generates magnetic field gravitation consistent to the pushing force of the handle, the capsule endoscope with magnet is controlled by the handle control system to move vertically or in parallel in the gastrointestinal of the human body, and the purposes of capturing the gastrointestinal wall in the special direction and acquiring a more clear and accurate image are achieved.
Description
Technical field
This utility model relates to capsule endoscope, refers to especially a kind ofly can control control system with conversion to running orbit in the intestines and stomach of capsule endoscope.
Background technology
Capsule endoscopic is the High Tech Products of medical development, it day by day is widely used in the medically clinical diagnosis of various diseases, adopt painless AT monitoring, diagnosing, enter after oral in human stomach or intestinal, by its inner stomach of its lens assembly shooting at close range or intestinal wall situation, to carry out clinical diagnosis, alleviate patient's clinical misery.
After capsule endoscope enters in body, need to carry out image to the stomach of human body, capsule endoscope is in free state, free-floating in body fluid, because its position is uncertain, captured image has too large randomness, people are difficult to judge the orientation of the image of taking the photograph sometimes, be difficult to judge the integral status in stomach, or institute's tumor of taking the photograph is in its position where, image that how to confirm is taken the photograph under one's belt the orientation and to carry out the controllability shooting be a major issue that needs to be resolved hurrily.
Therefore, be necessary to provide a kind of control system that can control the 3 D stereo running orbit of capsule endoscope in the intestines and stomach, controllably the intestines and stomach wall is clearly taken, improve the accuracy and precision of medical diagnosis.
The utility model content
Based on the deficiencies in the prior art, it is a kind of by handle controlling magnetic field direction and size, with the control system that the 3 D stereo running orbit of the capsule endoscope in human body is controlled and adjusted that main purpose of the present utility model is to provide.
this utility model provides a kind of control system of capsule endoscope running orbit, it comprises several solenoids, the electric magnet electric power system, microprocessor and handle controlling system, described handle controlling system is electrically connected to the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected to several solenoids, by hand-held driving handle control system, produce coordinate information, through microprocessor, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid, export corresponding solenoid to, make the solenoid of energising produce identical with the handle thrust direction, corresponding magnetic attraction is in proportion, to control the running orbit of capsule endoscope in the human body the intestines and stomach of carry magnet.
Preferably, described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope of controlling carry magnet by handle controlling system.
preferably, described microprocessor comprises the coordinate transformation module, wherein be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude, the described handle controlling system of described coordinate transformation module reception produces the first coordinate information that comprises handle thrust and exports on the coordinate axes of handle controlling system, be translated into the coordinate axes that the second coordinate information that comprises the current amplitude value exports to electric magnet power supply amplitude, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, correspondence is in proportion.Handle thrust is converted into electromagnetic force, and the running orbit in the intestines and stomach positions directed quantitative control and adjustment to capsule endoscope to produce magnetic field.
Wherein, be provided with the coordinate axes of the solenoid that comprises the solenoid positional information in described electric magnet electric power system, wherein, the sensing of the coordinate axes of the coordinate axes of described solenoid, electric magnet power supply amplitude and the coordinate axes of handle controlling system is identical.Under "on" position, the magnetic resultant direction that solenoid produces is identical with the direction of current amplitude, and the correspondence that is in proportion makes the capsule endoscope of the carry magnet in the human body the intestines and stomach move along the handle thrust direction.
Preferably, described solenoid has three at least, is electrically connected to the electric magnet electric power system respectively, and wherein at least two solenoids on same level, carry out level run to drive capsule endoscope in gastric juice; One of them solenoid be arranged at another two solenoids under, drive it and move vertically.
Preferably, described solenoid is provided with five, wherein four solenoids are arranged on same level, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, another solenoid is located at the below of described four solenoids, is used for controlling capsule endoscope and vertically moves at gastric juice.
compared with prior art, the control system of capsule endoscope operation attitude of the present utility model, control by handle orientations and application of force size to handle controlling system, characterize out the first coordinate information of handle thrust on the coordinate axes of the handle controlling system of microprocessor, by coordinate transferring, described the first coordinate information is converted to the second coordinate information of the current amplitude value that characterizes the electric magnet power supply, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to again the big or small magnetic force of special angle, and then reach by handle magnetic direction and the big or small purpose of controlling.In addition, this utility model is by being arranged at the plurality of electromagnetic coil of Different Plane, the pull strength vector of formation to the 3 D stereo of capsule endoscope, thereby can carry out multidirectional control to its 3 D stereo movement locus at gastric juice, to reach the intestines and stomach wall of taking particular orientation, obtain the purpose of more clear image accurately, help to make a definite diagnosis quickly, the accuracy and precision that has greatly improved diagnosis or detected.
Description of drawings
Fig. 1 is the structural representation of this utility model capsule endoscope;
Fig. 2 is the floating state figure of this utility model capsule endoscope in gastric juice;
Fig. 3 is that this utility model capsule endoscope is attracted and running status figure by solenoid in gastric juice;
Fig. 4 is the system block diagram of the control system of this utility model capsule endoscope running orbit;
Fig. 5 is the coordinate diagram of solenoid of the control system of this utility model capsule endoscope running orbit;
Fig. 6 is the coordinate diagram of handle controlling system of the control system of this utility model capsule endoscope running orbit;
Fig. 7 is the coordinate diagram of solenoid power supply amplitude of the control system of this utility model capsule endoscope running orbit;
Fig. 8 is the magnetic line of force coordinate diagram of the control system of this utility model capsule endoscope running orbit.
The specific embodiment
referring to figs. 1 through shown in Figure 3, this utility model provides a kind of control system 100 of capsule endoscope running orbit, it comprises several solenoids 10, electric magnet electric power system 20, microprocessor 30 and handle controlling system 40, described handle controlling system 40 is electrically connected to electric magnet electric power system 20 by microprocessor 30, described electric magnet electric power system 20 is electrically connected to several solenoids 10, by hand-held driving handle control system 40, produce coordinate information, through microprocessor 30, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid 10, export corresponding solenoid 10 to, make the solenoid 10 of energising produce identical with the handle thrust direction, corresponding magnetic attraction is in proportion, to control the running orbit of capsule endoscope 50 in the human body the intestines and stomach of carry magnet.
In this utility model, described control system 100 is in conjunction with handle controlling system 40, come the DM electric power system to produce with it the current amplitude value of equivalent in the same way by driving handle, transfer to the solenoid 10 on the corresponding coordinate position, to produce the make a concerted effort operation of capsule endoscope 40 in the human body the intestines and stomach of rotating band Magnet of correspondingly magnetic.By controlling the direction of the magnetic line of force that produces, drive the operation of capsule endoscope, reach and control its purpose of running orbit in vivo.
In this utility model, described solenoid 10 has three at least, is electrically connected to electric magnet electric power system 20 respectively.Described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope of controlling carry magnet by handle controlling system 40.Wherein, at least two solenoids carry out level run to drive capsule endoscope in gastric juice on same level; In conjunction with the solenoid on same level not with it, drive it and move vertically again.
In a preferred embodiment of the present utility model, described solenoid 10 is provided with five, wherein four solenoids 10 are arranged on same level, described solenoid 10 is provided with four, be arranged on same level, symmetrical in twos, and form right angle between two adjacent solenoids 10, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, also have a solenoid to be located at the below of described four solenoids, be used for controlling capsule endoscope and vertically move at gastric juice.
With reference to shown in Figure 5, by the orientation of solenoid 10, coordinate axes is set, on the coordinate axes of this solenoid, establishing lateral coordinates is T1-T2 direction, along slope coordinate is U1-U2 direction, is the U3 direction perpendicular to the extended vertical coordinate in above-mentioned plane.Solenoid A is located on the U1 direction of coordinate axes, solenoid B is located on the U2 direction of coordinate axes, solenoid C is located on the T1 direction of coordinate axes, solenoid D is located on the T2 direction of coordinate axes, solenoid E is located at the Z1 direction of coordinate axes, and corresponding sign is carried out in the position to each solenoid on coordinate axes.Be appreciated that described coordinate axes can arrange according to position and the number of solenoid, make solenoid controlledly to produce magnetic field in the specific direction of coordinate axes.
In this utility model, described microprocessor 30 comprises the coordinate transformation module, be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude in described coordinate transformation module, when driving handle, the coordinate transformation module receives described handle controlling system 40 the first coordinate information that comprises handle pushing direction value that produces, be translated into the second coordinate information that comprises the current amplitude value, feed back to electric magnet electric power system 20 to power to solenoid 10, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
with reference to shown in Figure 6, among described coordinate transformation module, on the coordinate axes of handle controlling system, this coordinate axes X1 is corresponding with the T1 of solenoid coordinate axes, coordinate axes X2 is corresponding with the T2 of solenoid coordinate axes, coordinate axes Y1 is corresponding with the U1 of solenoid coordinate axes, coordinate axes Y2 is corresponding with the U2 of solenoid coordinate axes, on the coordinate axes of handle controlling system, to X1 and Y1 direction driving handle, the coordinate information of handle thrust is (X0, Y0), angle between thrust direction and coordinate axes X1 is the θ angle, set thus the first coordinate information (X0 of handle thrust, Y0), the unit of coordinate is newton.with reference to shown in Figure 7, on the coordinate axes of electric magnet power supply amplitude, this coordinate axes A1 is corresponding with the X1 of handle controlling system coordinate axes, coordinate axes A2 is corresponding with the X2 of handle controlling system coordinate axes, coordinate axes B1 is corresponding with the Y1 of handle controlling system coordinate axes, coordinate axes B2 is corresponding with the Y2 of handle controlling system coordinate axes, process through the coordinate transformation module, the first coordinate information (X0 of handle thrust vectoring information will be characterized, Y0), be converted into and characterize electric magnet for the second coordinate information (A0 of electrical information, B0), the unit of coordinate is ampere, angle between the sense of current and coordinate axes A1 is also the θ angle.Be provided with the coordinate axes of solenoid in the electric magnet electric power system, characterize the relative position of each solenoid and size and the angle that magnetic is made a concerted effort.coordinate axes due to described solenoid, the sensing of the coordinate axes of electric magnet power supply amplitude and the coordinate axes of handle controlling system is identical, transform by electromagnetism, to solenoid A output current B0, to solenoid C output current A0, on the coordinate axes of solenoid, coordinate unit is Gauss, solenoid A produces magnetic force U0, solenoid C produces magnetic force T0, corresponding with minute supply current of electric magnet, the magnetic of the three-dimensional information that magnetic force U0 and magnetic force T0 produce is (T0 with joint efforts, U0) with the second coordinate information (A0 of the supply current of electric magnet, B0) suitable.Under "on" position, through the conversion of the coordinate axes between variant Vector Message, control of azimuth information with handle, be converted to the information of supply current amount, export corresponding solenoid to, the magnetic resultant direction that makes solenoid produce is identical with the direction of current amplitude, the correspondence that is in proportion, and the capsule endoscope that drives the carry magnet in the human body the intestines and stomach moves along the handle pushing direction.
With reference to shown in Figure 8, swim in the capsule endoscope in gastric juice, magnetic force by five groups of solenoids and gastric juice form whole control system to the pull strength vector of capsule endoscope 3 D stereo, thereby can control capsule endoscope 3 D stereo movement locus under one's belt its buoyancy.
Shown in seeing figures.1.and.2, described capsule endoscope 50 comprises capsule housing 1 and is packaged in wherein light source 2, camera lens 3, antenna 4, battery 5, main control board 6 and Magnet 7, camera lens 3 is arranged at the one or both ends of battery 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on camera lens 3, main control board 6 and battery 5 are electrically connected to each module respectively, described Magnet 7 is sheathed on the periphery of battery 5, produce interaction with the magnetic field with outside hot-wire coil generation, change capsule endoscope running orbit under one's belt.Wherein, with reference to Fig. 2 and shown in Figure 3, described Magnet 7 is arranged on battery one end at capsule endoscope middle part, makes the two ends counterweight of capsule endoscope unequal, axle center and the center of gravity of capsule endoscope do not coincide, and make it can be kept upright to float in gastric juice and take.Capsule endoscope is under the action of a magnetic field of energising solenoid, capsule endoscope in gastric juice buoyancy F1 and the magnetic field gravitation F2 of solenoid act on capsule endoscope, make it vertically to move towards the direction of magnetic field gravitation F2, direction and size by the external magnetic field that produces of energising solenoid, to control the running orbit of capsule endoscope in the human body the intestines and stomach, reach and control the purpose of taking.
Preferably, described capsule endoscope 50 is provided with two camera lenses 3 being located at its two ends, can absorb the wall situation of two side in stomach by two camera lenses 3, and can rotate the operation attitude that changes capsule endoscope by control, optionally required coat of the stomach is taken.
The number of turn of solenoid is larger, and energising intensity is larger, and the electromagnetic field intensity that produces is larger, and is larger to the magnetic force of capsule endoscope, and is higher to the sensitivity that its running orbit is controlled.In this utility model, the number of turn of described solenoid is between the 300-2000 circle.Described capsule endoscope is built in the magnetic field that the solenoid of energising produces, and perpendicular in the draw direction of solenoid.Like this, when capsule endoscope enters in human stomach, it is free-running operation in gastric juice, in the time of in entering the magnetic field that solenoid produces, the magnetic line of force that solenoid produces parallels with the operation of capsule endoscope, makes it to produce graviational interaction and to cause the change of its running orbit capsule endoscope.
control by handle orientations and application of force size to handle controlling system, characterize out the first coordinate information of handle thrust on the coordinate axes of the handle controlling system of microprocessor, by coordinate transferring, described the first coordinate information is converted to the second coordinate information of the current amplitude value that characterizes the electric magnet power supply, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to again the big or small magnetic force of special angle, and then reach by handle magnetic direction and the big or small purpose of controlling, utilize this technology that the running orbit of the capsule endoscope in human body is controlled in real time and adjusted, to reach the intestines and stomach wall of taking particular orientation, obtain the purpose of more clear image accurately, help to make a definite diagnosis quickly, the accuracy and precision that has greatly improved diagnosis or detected.In this utility model, not only can control the level run track of capsule endoscope, and running orbit that can its vertical direction, reach it is carried out the purpose that the 3 D stereo movement locus is controlled.
Claims (8)
1. the control system of a capsule endoscope running orbit, it is characterized in that: comprise several solenoids, the electric magnet electric power system, microprocessor and handle controlling system, described handle controlling system is electrically connected to the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected to several solenoids, by hand-held driving handle control system, produce coordinate information, through microprocessor, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid, export corresponding solenoid to, make the solenoid of energising produce identical with the handle thrust direction, corresponding magnetic attraction is in proportion, to control the running orbit of capsule endoscope in the human body the intestines and stomach of carry magnet.
2. the control system of capsule endoscope running orbit according to claim 1, it is characterized in that: described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope of controlling carry magnet by handle controlling system.
3. the control system of capsule endoscope running orbit according to claim 2, it is characterized in that: described microprocessor comprises the coordinate transformation module, wherein be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude, the described handle controlling system of described coordinate transformation module reception produces the first coordinate information that comprises handle thrust and exports on the coordinate axes of handle controlling system, be translated into the coordinate axes that the second coordinate information that comprises the current amplitude value exports to electric magnet power supply amplitude, feed back to the electric magnet electric power system to power to solenoid.
4. the control system of capsule endoscope running orbit according to claim 3, it is characterized in that: described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
5. the control system of capsule endoscope running orbit according to claim 4, it is characterized in that: the coordinate axes that is provided with the solenoid that comprises the solenoid positional information in described electric magnet electric power system, wherein, the sensing of the coordinate axes of the coordinate axes of the coordinate axes of described solenoid, electric magnet power supply amplitude and handle controlling system is identical.
6. the control system of capsule endoscope running orbit according to claim 5, it is characterized in that: under "on" position, the magnetic resultant direction that solenoid produces is identical with size with the direction of current amplitude, makes the capsule endoscope of the carry magnet in the human body the intestines and stomach move along the handle thrust direction.
7. the control system of the described capsule endoscope running orbit of any one according to claim 1-6, it is characterized in that: described solenoid has three at least, be electrically connected to the electric magnet electric power system respectively, wherein at least two solenoids are arranged on same plane, one of them solenoid be arranged at described two solenoids under.
8. the control system of the capsule endoscope running orbit described according to claim 7, it is characterized in that: described solenoid is provided with five, wherein four solenoids are arranged on same level, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, another solenoid be located at described four solenoids under, be used for to control capsule endoscope and vertically move at gastric juice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012207104563U CN202942081U (en) | 2012-12-20 | 2012-12-20 | Control system of moving track of capsule endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012207104563U CN202942081U (en) | 2012-12-20 | 2012-12-20 | Control system of moving track of capsule endoscope |
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| CN202942081U true CN202942081U (en) | 2013-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012207104563U Expired - Lifetime CN202942081U (en) | 2012-12-20 | 2012-12-20 | Control system of moving track of capsule endoscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
-
2012
- 2012-12-20 CN CN2012207104563U patent/CN202942081U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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Address after: 518120 6 buildings in the fourth industrial area of the new community in Dapeng street, Longgang District, Shenzhen, Guangdong. Patentee after: SHENZHEN JIFU MEDICAL TECHNOLOGY Co.,Ltd. Address before: 518120 6 buildings in the fourth industrial area of the new community in Dapeng street, Longgang District, Shenzhen, Guangdong. Patentee before: SHENZHEN JIFU TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130522 |