CN211187559U - Isolating device of capsule endoscope operating platform - Google Patents
Isolating device of capsule endoscope operating platform Download PDFInfo
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- CN211187559U CN211187559U CN201920843055.7U CN201920843055U CN211187559U CN 211187559 U CN211187559 U CN 211187559U CN 201920843055 U CN201920843055 U CN 201920843055U CN 211187559 U CN211187559 U CN 211187559U
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Abstract
The utility model provides a capsule scope operation platform's isolating device can keep apart the workspace of the outside magnet of capsule scope, effectively reduces the influence that external environment interferes the motion control production to motion guide module. The isolation device of the operating platform of the capsule endoscope is characterized in that the capsule endoscope is magnetically driven by an external magnet, the external magnet is arranged at the tail end of the motion guide module, and the motion of the external magnet is guided by the motion guide module; the isolation device comprises: the device comprises a first isolation module, a second isolation module and a bearing bracket module; the motion guide module and the first isolation module are both arranged on the bearing bracket module, and the first isolation module limits the motion range of the motion guide module within the boundary range of the inner frame of the motion guide module; the second isolation module is arranged on the bearing support module and used for covering an isolation cover outside the chest and the abdomen of the detected person.
Description
Technical Field
The utility model relates to an isolating device, concretely relates to capsule scope operation platform's isolating device belongs to robot control and design technical field.
Background
The guidance of active capsule endoscopes in the market at present is mainly realized in a magnetic guidance mode, namely, an external magnet outside a detected body and a magnet inside the capsule endoscope interact with each other, and the external magnet is guided by an external driving mechanism with multiple degrees of freedom.
However, the external magnet may contact with the detected person in the working space during the movement, and an external operator or the detected person may easily interfere with the movement of the external magnet and the external driving mechanism, thereby affecting the working space. In addition, whether the external magnet is an electromagnetic induction coil or a permanent magnet which is electrified, although the magnetic field intensity is not higher than that of a nuclear magnetic resonance device, the external magnet still can cause interference to the surrounding external environment, and accidents occur.
Therefore, the work space of the external magnet needs to be isolated, and the isolated limited work space data needs to be defined and identified accurately in real time, so that the efficiency and the safety of the motion control of the external magnet are guaranteed.
SUMMERY OF THE UTILITY MODEL
In view of the above: the utility model provides a capsule scope operation platform's isolating device can keep apart the workspace of the outside magnet of capsule scope, effectively reduces the external environment and interferes the influence that produces the motion control of motion guide module to the structural data who keeps apart the space can provide data support for motion guide module's motion control and path planning, effectively improves the robot and controls efficiency.
The isolation device of the operating platform of the capsule endoscope is characterized in that the capsule endoscope is magnetically driven by an external magnet, the external magnet is arranged at the tail end of the motion guide module, and the motion of the external magnet is guided by the motion guide module;
the isolation device comprises: the device comprises a first isolation module, a second isolation module and a bearing bracket module;
the motion guide module and the first isolation module are both arranged on the bearing bracket module, and the first isolation module limits the motion range of the motion guide module within the boundary range of the inner frame of the motion guide module;
the second isolation module is arranged on the bearing support module and used for covering an isolation cover outside the chest and the abdomen of the detected person.
Further comprising: the third isolation module is an annular protective cover with an opening at the top and is placed on the bearing support module; when the motion guide module is in a work stop state, the external magnet is positioned inside the third isolation module.
More than two pressure sensors are distributed on the inner frame of the first isolation module at intervals along the contour line of the inner frame, the pressure sensors are connected with the control and display module, and detected pressure signals are sent to the control and display module; when the motion guiding module contacts the pressure sensor in the motion process, the control and display module controls the motion guiding module to stop moving or return.
More than two distance sensors are distributed on the inner frame of the first isolation module at intervals along the contour line of the inner frame, the distance sensors are connected with the control and display module, the distance between the motion guide module and the inner frame of the first isolation module is detected in real time, and a detected distance signal is sent to the control and display module; and when the distance between the motion guide module and the inner frame of the first isolation module in the motion process is smaller than a preset threshold value in the control and display module, the control and display module controls the motion guide module to decelerate, stop moving or return.
At least two pairs of emitting sensors are arranged on the inner frame of the first isolation module; the motion guide module shields signals between the transmitting end and the receiving end of the correlation sensor to judge whether the motion guide module is in a set area in an inner frame of the first isolation module; the correlation sensor is connected with the control and display module, the control and display module judges the distance between the motion guide module and a set region boundary in the first isolation module through shielding signals of the correlation sensor by the motion guide module in the motion process, and when the distance is smaller than a preset threshold value in the control and display module, the control and display module controls the motion guide module to perform speed reduction operation, stop or return operation.
And more than one pressure sensor is arranged on the upper surface of the second isolation module, the pressure sensor is connected with the control and display module, and when an external magnet collides with the pressure sensor on the second isolation module, the control and display module controls the motion guide module to immediately stop or return.
Has the advantages that:
(1) the working space of the external magnet of the capsule endoscope can be isolated through the three isolation modules, and the influence of the external environment, a detected person, an operator and the like on the working space of the robot is effectively reduced.
(2) By obtaining the structural data of the isolated space, the motion control and path planning under the limited working space can be effectively carried out, and the endoscopy efficiency is improved.
Drawings
FIG. 1 is a schematic view of an isolation device of a capsule endoscope operation platform provided with a first isolation module and a second isolation module;
FIG. 2 is a schematic view of an isolation device of a capsule endoscope operation platform provided with a third isolation module and a device housing;
FIG. 3 is a top view of a first isolation module with a pressure sensor installed;
figure 4 is a schematic view of an isolation device provided with a photoelectric switch;
FIG. 5 is a side view of a second isolation module having a bottom V-shaped tooth with a size spacing and arrangement therein;
FIG. 6 is a schematic top view of a first isolation module with a photosensor mounted thereon;
fig. 7 is a schematic structural diagram of detecting the third isolation module by the photoelectric switch.
Wherein: 1-motion guide module, 2-external magnet, 3-first isolation module, 4-carrying support module, 401-carrying bed module, 402-support module, 403-binocular camera module, 404-position detection module, 5-control and display module, 6-second isolation module, 7-capsule endoscope, 8-device shell, 9-third isolation module
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of examples.
Example 1:
the embodiment provides a capsule endoscope operation platform's isolating device, through the isolation effect of three isolation module, effectively reduces external environment, by the influence of detection person, operating personnel etc. to robot working space, improves endoscopy efficiency and security.
The isolating device is applied to an operating platform of a capsule endoscope and used for limiting the movement space of an external magnet, avoiding the external magnet from contacting a detected person in the movement process and avoiding the interference of an operator or the detected person on the movement of the external magnet and an external driving mechanism.
As shown in fig. 1 to 3, the isolation device includes: a first isolating module 3, a carrier module 4, a control and display module 5, a second isolating module 6, a device housing 8 and a third isolating module 9.
The motion of the external magnet 2 is guided by the motion guide module 1, the motion guide module 1 is installed on the bearing support module 4, in the embodiment, the motion guide module 1 is a joint type mechanical arm with seven degrees of freedom, the tail end of the motion guide module 1 is connected with the external magnet 2, and the capsule endoscope 7 is magnetically driven by the external magnet 2 to guide the capsule endoscope 7 to move; the capsule endoscope 7 has functions of photographing, image signal transmission and the like. The control and display module 5 can receive control instructions of an operator, realize motion control of the motion guide module 1, and simultaneously receive and display images sent by the capsule endoscope 7 in real time.
The carrier module 4 comprises: a carrying bed module 401 and a support frame module 402, wherein the carrying bed module 401 is used for carrying a detected person, and the support frame module 402 is installed on one side of the upper surface of the carrying bed module 401 and is used for carrying the motion guiding module 1; the device housing 8 is housed outside the cradle module 402. One end of the motion guide module 1 is connected with the support frame module 402, and the other end is connected with the external magnet 2; first isolation module 3 fixed mounting is at the support frame module 402 top, and first isolation module 3 is hollow frame, is located directly over bearing bed module 401, makes the end of motion guide module 1 be arranged in first isolation module 3's inside casing, carries out physical limitation to the motion space of motion guide module 1 through the structure boundary of first isolation module 3 self, and first isolation module 3 has certain intensity. A plurality of pressure sensors 301 are distributed on the inner frame of the first isolation module 3 at intervals along the contour line thereof, as shown in fig. 3, the pressure sensors 301 are connected with the control and display module 5, and send the detected pressure signals to the control and display module 5; the movement of the motion guide module 1 is controlled by the control and display module 5, when the motion guide module 1 contacts the first isolation module 3, the pressure sensor 301 at the position detects a pressure signal and sends the pressure signal to the control and display module 5, and the control and display module 5 controls the motion guide module 1 to stop moving or return immediately. Therefore, in the working state, the motion guide module 1 can be ensured to move in the limited space surrounded by the inner frame of the first isolation module 3. Meanwhile, the mechanical structure parameters of the first isolation module 3 are pre-stored in the control and display module 5, so that the mechanical structure parameters can be used as constraint conditions in the motion control and path planning process of the motion guide module 1, and limit is provided for a motion space on the software control level, so that an operator and the surrounding environment are isolated.
A binocular camera module 403 is also installed on the support frame module 402, and the binocular camera module 403 not only can perform image recognition on an area within a limited range, but also can perform distance detection on a target object within the range; the position detection module 404 is installed inside the carrying bed module 401, and can detect the position and the posture of the capsule endoscope 7. The binocular camera module 403 and the position detection module 404 are both connected to the control and display module 5.
The second isolation module 6 is a high polymer material protective cover with a certain thickness, covers the outer side of the chest and abdomen of the detected person, is used for effectively isolating and protecting the chest and abdomen of the detected person in the detection process, avoids the interference or direct contact generated by the body of the detected person on the movement of the movement guide module 1 and the external magnet 2, and isolates the detected person. As shown in fig. 1, the second isolation module 6 is an arched shield, and is detachably mounted on the load-bearing bed module 401, and if a sliding slot is provided on the load-bearing bed module 401, two sides of the open end of the second isolation module 6 are respectively located in the sliding slot on the load-bearing bed module 401. The second isolation module 6 is provided with different size models according to different body types and postures of the detected person, corresponding identification codes are attached to the outer surface of the second isolation module 6 of each model, and the identification codes and the structural size data of the corresponding second isolation module 6 are pre-stored in the storage module of the control and display module 5. Therefore, when the second isolation module 6 is placed on the carrying bed module 401, the binocular camera module 403 identifies the identification code on the second isolation module 6, and after the control and display module 5 receives the identification code information transmitted by the binocular camera module 403, the structural size data of the currently used second isolation module 6 is obtained from the internal storage module. Meanwhile, the binocular camera module 403 also determines whether the second isolation module 6 is in the correct protection position (to avoid the second isolation module 6 sliding back and forth on the carrying bed module 401 to cause the protection position to be dislocated) by detecting the position and distance of the identification code, and if the protection position is correct, the detection operation of the detected person is allowed, otherwise, the prompt message that the position of the second isolation module 6 is wrong is displayed.
A pressure sensor is disposed on the upper surface of the second isolation block 6, and may detect contact of the motion guide block 1 or the external magnet 2 with the second isolation block 6 during the motion. Namely, the pressure sensor is connected with the control and display module 5, and sends the detected pressure signal to the control and display module 5; when the motion guide module 1 contacts and collides with the second isolation module 6, the pressure sensor contacting the collision position detects a pressure signal and sends the pressure signal to the control and display module 5, and the control and display module 5 controls the motion guide module 1 to immediately stop or return.
The control and display module 5 can combine the structural dimension data of the second isolation module 6, the first isolation module 3 and the device shell 8 and the structural dimension data of the motion guide module 1 and the external magnet 2 to perform motion control and path planning on the motion guide module 1, so that the detection of a detected person can be finished in a limited space, and the motion guide module 1 can be prevented from being in contact with other parts. Namely, in the motion process of the motion guide module, the first isolation module 3 and the second isolation module 6 form a limited motion space, the control and display module 6 performs motion control and path planning in the limited motion space according to the structural size data and the position information of the first isolation module 3 and the second isolation module 6 and the structural size data of the motion guide module and the external magnet, and the position and the posture of the motion guide module 1 and the external magnet 2 in the limited space are displayed in real time through the control and display module 5 by combining the real-time parameters of each joint in the motion guide module 1, so that reference is provided for the drive control of an operator.
The third isolation module 9 is used for isolating and protecting the external magnet 2 when the motion guiding module 1 is in a work stop state, as shown in fig. 2, the third isolation module 9 is an annular protective cover with an open top, and when the operation platform does not work, the third isolation module 9 is placed on the working surface of the bearing support module 4, so that the external magnet 2 at the tail end of the motion guiding module 1 is located inside the third isolation module 9, and the position is also used as an initial position of the motion guiding module and the external magnet. And the surface of the third isolation module 9 is marked with an identification code and a strong magnetic warning identification, when the third isolation module 9 is placed on the working desktop of the bearing support module 4, one side marked with the identification code on the third isolation module 9 is opposite to the binocular camera module 403, one side marked with the strong magnetic warning identification faces outwards, the binocular camera module 403 can perform image recognition on the identification code on the third isolation module 9, so as to perform identity confirmation on the identification code, detect whether the third isolation module 9 is the third isolation module 9, and simultaneously detect the position and the distance of the identification code, and judge whether the position of the third isolation module 9 meets the requirement that the set external magnet 2 returns to be placed.
The control and display module 5 also receives the real-time image sent by the capsule endoscope 7 in a wireless or wired mode and displays the real-time image in real time through a display.
The motion guidance module 1 is a mechanical arm with 7 degrees of freedom, the motion guidance module moves in a limited motion space with the first isolation module 3 and the second isolation module 6 as constraint conditions, and the control and display module 5 can plan the motion of the motion guidance module 1 according to the structural data of the isolation space. In the capsule endoscope system, the mechanical arm controls the capsule endoscope 7 to move in the intestinal tract by controlling the pose of the external magnet 2. In order to adapt to complex intestinal environments and meet various diagnosis and treatment requirements, the shapes of a starting point, a middle point, a target point and a space path of a guide task executed by the mechanical arm are dynamically changed. Furthermore, the robot arm is required to avoid contact with objects (the carrying bed module 401, the first isolation module 3, etc.) in the environment when performing complex, random, real-time and variable guidance tasks. Meanwhile, based on a safe operation mechanism established by the system, the running speed is reduced after the distance between the robot and the obstacle is smaller than a certain safe threshold value, and when the robot further approaches the obstacle, an emergency stop measure is taken. If there are frequent waypoints in the path of the motion guidance module 1 that enter the safety threshold, the steering efficiency will be severely reduced. The embodiment adopts the redundant degree of freedom mechanical arm, so that the control flexibility is increased, and the difficulty of planning and calculating the mechanical arm is increased. In addition, in order to shorten the medical examination time, the movement of the mechanical arm has certain timeliness. Therefore, in the constrained work space formed by the first isolation module 3 and the second isolation module 6, how to plan an unobstructed path (all path points are outside the safety threshold) for the redundant mechanical arm on line in real time is a key technical problem of the capsule endoscope system. In order to solve the problems that the obstacles in a high-dimensional space are difficult to express and the complexity of a planning algorithm is high, a voxel gridding space description method can be adopted, and the real-time dynamic motion planning of a redundant mechanical arm in a capsule endoscope system is realized based on a fast search random tree algorithm.
Example 2:
the difference from the foregoing embodiment 1 is that, in this example, the scheme of identifying the second isolating modules 6 of different models by the identification code and the binocular camera in embodiment 1 is replaced by identifying the second isolating modules 6 of different models by the photoelectric switch assembly 406. The optoelectronic switch assembly 406 is a plurality of optoelectronic switches disposed side by side, and by shielding different optoelectronic switches therein, the optoelectronic switch assembly 406 can be triggered into different combinations of switch states.
As shown in fig. 4, the sliding groove of the second isolation module 6 on the working surface of the carrying bed module 401 is a V-shaped groove, a plurality of V-shaped teeth which are in sliding fit with the V-shaped groove are processed at the bottom of the second isolation module 6, and the spacing sizes of the V-shaped teeth corresponding to the bottom of the second isolation module 6 are different according to different size models of the second isolation module 6, that is, the arrangement mode of the V-shaped teeth at the bottom of the second isolation module 6 is used as the identification information of different second isolation modules 6; the interval arrangement data of the V-shaped teeth at the bottom of the second isolation module 6 of each type and the corresponding structural dimension data of the second isolation module 6 are pre-stored in the storage module of the control and display module 5.
A photoelectric switch assembly 406 is mounted on one side of the sliding groove of the second isolation module 6 on the working surface of the carrying bed module 401 in a hidden manner along the length direction of the sliding groove, the photoelectric switch assembly 406 is a plurality of photoelectric switches which are arranged side by side, and when the second isolation module 6 slides in the sliding groove and shields a light beam emitted by the photoelectric switch assembly 406, a level is triggered, so that the position of the second isolation module 6 can be detected in real time through the signal state of the photoelectric switch assembly 406; meanwhile, V-shaped tooth interval arrangement data at the bottom of the second isolation module 6 can be obtained through different photoelectric signal states, and after the V-shaped tooth interval arrangement data are transmitted to the control and display module 5, corresponding model and structure size data of the second isolation module 6 can be obtained.
Example 3:
the difference from the above embodiment 1 is that, in this example, the third isolation module 9 also performs identification and position detection through the photoelectric switch assembly 406. The principle is as follows: due to the corresponding V-shaped teeth spacing dimension at the bottom of the third isolation module 9, when the third isolation module 9 slides in the sliding slot, the corresponding photoelectric signal generated by the photoelectric switch assembly 406 is enabled to be in a state.
As shown in fig. 7, a sliding groove for mounting the third isolation module 9 is arranged on the working surface of the carrying bed module 401, wherein the sliding groove on one side is a V-shaped groove, a plurality of V-shaped teeth in sliding fit with the V-shaped groove are processed on the bottom of the third isolation module 9 corresponding to the V-shaped groove, the plurality of V-shaped teeth are arranged according to a set interval size, and the arrangement mode of the V-shaped teeth at the bottom of the third isolation module 9 is used as the identification information; the identification information is pre-stored in the memory module of the control and display module 5.
Example 4:
the difference from embodiment 1 is that in this example, the pressure sensor 301 disposed on the first isolation module 3 is replaced with a correlation type sensor, such as a photoelectric sensor 302, as shown in fig. 6, the inner frame of the first isolation module 3 has a rectangular structure, the photoelectric sensors 302 are disposed at four corners of the rectangular structure, and the photoelectric sensor 302 includes a transmitting end and a receiving end, the transmitting end of the photoelectric sensor transmits a light beam, and the receiving end of the photoelectric sensor receives the light beam. The light beams emitted by the four photosensors 302 are formed into a rectangular structure along the contour of the inner frame of the first isolation block 3 as the boundary of the motion-guiding block 1 and the working space of the external magnet. Thus, the light beam emitted by the photosensor 302 can serve as a detection boundary for detecting whether the motion guide module 1 exceeds the working range, and once the light beam is blocked by the motion guide module 1, the motion guide module 1 immediately performs a stop or return action.
Example 5:
the difference from embodiment 1 described above is that, in this example, the pressure sensor 301 provided on the first isolation block 3 is replaced with a correlation type sensor such as a grating sensor. The inner frame of the first isolation module 3 is of a rectangular structure, a grating sensor is arranged on one side of the rectangular structure, the grating sensor comprises a transmitting end and a receiving end, the transmitting end emits a light beam, and the receiving end receives the light beam. The grating sensor is connected with the control and display module, the motion guide module shields the light beam in the motion process, the control and display module judges the current position of the motion guide module according to the position of the motion guide module shielding the light beam, and when the motion guide module is judged to be close to the inner frame of the first isolation module 3, the control and display module controls the motion guide module to perform speed reduction operation, stop or return operation.
Example 6:
the difference from embodiment 1 is that in this example, a plurality of pressure sensors 301 are distributed at intervals along the contour line of the inner frame of the first isolation block 3, and are replaced with distance sensors.
The method specifically comprises the following steps: a plurality of distance sensors are distributed on the inner frame of the first isolation module 3 at intervals along the contour line of the inner frame, the distance sensors are connected with the control and display module 5, and detected distance signals are sent to the control and display module 5; in the motion process of the motion guide module 1, the distance sensor monitors the distance between the motion guide module 1 and the inner frame of the first isolation module 3 in real time, when the motion guide module 1 gradually approaches the inner frame of the first isolation module 3, and the distance between the motion guide module 1 and the inner frame of the first isolation module 3 is smaller than a preset threshold value in the control and display module 5, it indicates that there is a contact risk, and the control and display module 5 controls the motion guide module 1 to take actions such as speed reduction, stop or return.
In summary, the above is merely a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An isolation device of a capsule endoscope operation platform, wherein the capsule endoscope is magnetically driven by an external magnet (2), the external magnet is arranged at the tail end of a motion guide module, and the motion of the external magnet is guided by the motion guide module;
characterized in that the isolation device comprises: a first isolation module (3), a second isolation module (6) and a bearing bracket module (4);
the motion guide module and the first isolation module (3) are both arranged on the bearing bracket module (4), and the first isolation module (3) limits the motion range of the motion guide module within the boundary range of an inner frame thereof;
the second isolation module (6) is an isolation cover which is arranged on the bearing support module (4) and used for covering the outer side of the chest and the abdomen of the detected person.
2. An isolation device of an operating platform of an endoscope according to claim 1, further comprising: the third isolation module (9) is an annular protective cover with an open top and is placed on the bearing support module (4); when the motion guide module (1) is in a work stop state, the external magnet (2) is positioned inside the third isolation module (9).
3. An isolation device of an operating platform of an endoscope in a capsule according to claim 1 or 2, characterized in that more than two pressure sensors (301) are distributed at intervals on the inner frame of the first isolation module (3) along the contour line thereof, the pressure sensors (301) are connected with the control and display module (5) and send the detected pressure signals to the control and display module (5); when the motion guide module (1) contacts the pressure sensor (301) in the motion process, the control and display module (5) controls the motion guide module (1) to stop moving or return.
4. An isolation device of an operating platform of a capsule endoscope according to claim 1 or 2, characterized in that more than two distance sensors are distributed at intervals on the inner frame of the first isolation module (3) along the contour line thereof, the distance sensors are connected with a control and display module (5), the distance between the motion guide module (1) and the inner frame of the first isolation module (3) is detected in real time, and the detected distance signals are sent to the control and display module (5); when the distance between the motion guide module (1) and the inner frame of the first isolation module (3) is smaller than a preset threshold value in the control and display module (5) in the motion process, the control and display module (5) controls the motion guide module (1) to decelerate, stop moving or return.
5. An isolation device of a capsule endoscope operation platform according to claim 1 or 2, characterized in that at least two pairs of radial sensors are arranged on the inner frame of the first isolation module (3); the method comprises the steps that a motion guide module (1) shields signals between a transmitting end and a receiving end of the correlation sensor to judge whether the motion guide module (1) is located in a set area in an inner frame of a first isolation module (3); the correlation type sensor is connected with a control and display module (5), the control and display module (5) judges the distance between the motion guide module (1) and a set region boundary in the first isolation module (3) through shielding signals of the correlation type sensor in the motion process of the motion guide module (1), and when the distance is smaller than a preset threshold value in the control and display module (5), the control and display module (5) controls the motion guide module (1) to perform speed reduction operation, stop or return operation.
6. An isolation device of an operating platform of an endoscope in a capsule according to claim 1 or 2, characterized in that more than one pressure sensor is arranged on the upper surface of the second isolation module (6), and the pressure sensor is connected with the control and display module (5), and when an external magnet collides with the pressure sensor on the second isolation module (6), the control and display module (5) controls the motion guide module (1) to stop motion or return immediately.
7. An isolation device of an operating platform of a capsule endoscope according to claim 1 or 2, characterized in that the size parameters of the inner frame of the first isolation module (3) are pre-stored in the control and display module (5) as the constraint conditions for the control and display module (5) to perform motion control and path planning on the motion guide module (1).
8. An isolation device of an operating platform of an endoscope in a capsule according to claim 2, characterized in that a sensor assembly for identification and position detection of other modules placed on the support module (4) is mounted on the support module (4), said sensor assembly being connected to the control and display module (5), by means of which control and display module (5) identification and position detection is performed.
9. The isolation device of the capsule endoscope operating platform according to claim 8, comprising more than two second isolation modules (6) with different sizes and models, wherein each second isolation module (6) is provided with corresponding identification information, and the identification information and the structural size data of the corresponding second isolation module (6) are pre-stored in the control and display module (5); when the second isolation module (6) is placed on the bearing support module (4), the identification information on the currently used second isolation module (6) is identified through the sensor assembly and is sent to the control and display module (5), so that the structural size data of the currently used second isolation module (6) is obtained; and then, the sensor assembly is used for detecting the position of the second isolation module, and whether the second isolation module (6) is in a set protection position is judged.
10. The isolation device of an operating platform of a capsule endoscope according to claim 8, characterized in that the third isolation module (9) is provided with identification information, the sensor component identifies the third isolation module (9) by identifying the identification information and detects the position, if the identification is correct and the position meets the set requirement, the control and display module (5) controls the motion guidance module (1) to place the external magnet in the third isolation module (9).
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| CN201920843055.7U CN211187559U (en) | 2019-06-05 | 2019-06-05 | Isolating device of capsule endoscope operating platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111973136A (en) * | 2020-09-14 | 2020-11-24 | 上海安翰医疗技术有限公司 | Control method and control system of magnetic control capsule endoscope device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111973136A (en) * | 2020-09-14 | 2020-11-24 | 上海安翰医疗技术有限公司 | Control method and control system of magnetic control capsule endoscope device |
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