CN211355356U - Wireless capsule endoscope control system - Google Patents
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- CN211355356U CN211355356U CN201921752666.7U CN201921752666U CN211355356U CN 211355356 U CN211355356 U CN 211355356U CN 201921752666 U CN201921752666 U CN 201921752666U CN 211355356 U CN211355356 U CN 211355356U
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- 239000002775 capsule Substances 0.000 title claims abstract description 141
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- 210000001035 gastrointestinal tract Anatomy 0.000 claims description 25
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000000968 intestinal effect Effects 0.000 abstract description 9
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000000926 separation method Methods 0.000 abstract 1
- 210000000936 intestine Anatomy 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
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- 230000002035 prolonged effect Effects 0.000 description 2
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- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model provides a wireless capsule endoscope control system, which comprises a wireless capsule and a driving device, wherein a camera module, a control module, a vibration module, a battery, a wireless communication module and a first permanent magnet are arranged in the wireless capsule, and the camera module, the vibration module, the battery and the wireless communication module are respectively and electrically connected with the control module; the driving device comprises a driving head and a driving mechanism capable of driving the driving head to move, wherein the driving head comprises a second permanent magnet capable of attracting the first permanent magnet. The utility model discloses a built-in vibration module's wireless capsule carries out intermittent type nature vibration through vibration module for the outer wall of wireless capsule produces short-term separation with intestinal inner wall, reaches the purpose of reducing resistance, and under the mutual traction of external second permanent magnet and internal first permanent magnet, wireless capsule can remove in the intestinal smoothly simultaneously, thereby has solved the wireless capsule endoscope energy consumption of active drive height, bulky, be difficult to overcome the technical problem of intestinal resistance.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, more specifically say, relate to a wireless capsule endoscope control system.
Background
With the progress of science and technology, medical instruments have been developed, wherein wireless capsule endoscopes are widely used in gastrointestinal examination, especially in examination of human intestinal tract, due to the advantages of painlessness, no wound, no influence on normal life and work of patients, and the like. In the inspection process of human intestines, the wireless capsule endoscope is orally taken through an examinee, the wireless capsule endoscope moves in the intestines by means of the peristalsis of the intestines, and images in the intestines of the examinee are transmitted to the console in real time through the built-in camera module, the image processing module and the signal transmission module so as to diagnose the illness state of the examinee by medical staff. This passive driving method for driving the wireless capsule endoscope to move by means of the intestinal peristalsis has at least two disadvantages: firstly, the whole diagnosis process takes 10-12 hours; secondly, the wireless capsule endoscope is not controlled, when the medical care personnel find the suspected lesion area, the area is difficult to observe again by controlling the moving track of the wireless capsule endoscope, so as to make accurate diagnosis.
At present, in order to shorten the diagnosis time and control the moving track of the wireless capsule endoscope, the wireless capsule endoscope control system mainly adopts two active driving modes: the wireless capsule endoscope comprises an internal driving mode and an external driving mode, wherein the internal driving mode is that a mechanical driving mechanism is added on the wireless capsule endoscope, so that the wireless capsule endoscope can overcome the resistance of an intestinal tract and move in the intestinal tract, but the driving mode needs a battery with a larger capacity and a space for installing the mechanical driving mechanism, namely the volume of the wireless capsule endoscope needs to be increased, the driving mode is mainly discussed in scientific research, and the wireless capsule endoscope is not used by manufacturers in the market; the external drive is magnetic field drive, an external magnet is matched with a magnet arranged in the wireless capsule endoscope, the external magnet attracts the magnet in the wireless capsule endoscope to pull the wireless capsule endoscope to move in an intestinal tract, and the driving mode is also an active capsule driving mode used for stomach examination by mainstream manufacturers in the market.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a wireless capsule endoscope control system, including but not limited to solving the wireless capsule endoscope energy consumption of active drive high, bulky, being difficult to overcome the technical problem of intestinal resistance.
In order to achieve the above object, the present invention provides a wireless capsule endoscope control system, comprising:
the wireless capsule is used for acquiring image information of the digestive tract of a detected person, a camera module, a control module, a vibration module, a battery, a wireless communication module and a first permanent magnet are arranged in the wireless capsule, and the camera module, the vibration module, the battery and the wireless communication module are respectively and electrically connected with the control module; and
the driving device is used for driving the wireless capsule to move in the alimentary canal, and comprises a driving head and a driving mechanism capable of driving the driving head to move, wherein the driving head comprises a second permanent magnet, and the second permanent magnet can attract the first permanent magnet.
Further, offer the helicla flute that extends along axial and circumference spiral on the outer wall of wireless capsule, first permanent magnet is cylindricly, the second permanent magnet is cylindricly or cylindricly, first permanent magnet with the radial magnetization of second permanent magnet, the drive head still includes:
and the driving piece is used for driving the second permanent magnet to rotate around the axis of the second permanent magnet.
Optionally, the vibration module is a linear motor.
Further, the wireless capsule endoscope control system further comprises:
and the positioning device is used for detecting the position information of the wireless capsule and the driving head and comprises a magnetic sensor which is arranged at the bottom side of the workbench.
Further, the positioning device includes:
a circuit board; and
sixteen magnetic sensors are connected to the circuit board and distributed in a four-by-four rectangular array.
Further, the wireless capsule endoscope control system further comprises:
and the control terminal is used for receiving and displaying the image information of the alimentary canal and the position information of the wireless capsule and controlling the driving device to operate.
Further, wireless capsule includes capsule body, head and afterbody connect respectively in the relative both ends of capsule body, first permanent magnet ring is located on the inner wall of capsule body, camera module locates in the head, wireless communication module locates in the afterbody, control module vibration module with the battery is located the inner chamber of first permanent magnet.
Further, the driving mechanism is a six-degree-of-freedom mechanical arm, the driving head further comprises a connecting seat, the connecting seat is arranged at the tail end of the driving mechanism, and the driving piece is arranged on the connecting seat.
Further, the drive head further comprises:
the protective sleeve is sleeved on the outer side of the second permanent magnet; and
and the connecting flange is used for connecting the protective sleeve with the driving piece.
Further, the control terminal includes:
the operation platform is used for sending the control signal to the driving device;
the signal receiver is used for receiving the image information of the alimentary canal and the position information of the wireless capsule and sending the received information to the operating platform; and
a display for displaying the image information of the alimentary tract and the location information of the wireless capsule.
The utility model provides a wireless capsule endoscope control system's beneficial effect lies in: the wireless capsule with the built-in vibration module is adopted, the vibration module is small in size compared with an active mechanical driving mechanism, the energy consumption is low, the vibration module is controlled to vibrate intermittently through the control module, the outer wall of the wireless capsule is separated from the inner wall of an intestinal tract transiently, the aim of widening the moving space is achieved, the contact area is reduced, the resistance is reduced, meanwhile, the wireless capsule can move in the intestinal tract smoothly under the mutual traction of the second permanent magnet and the first permanent magnet in vitro, the technical problem that the intestinal tract resistance is difficult to overcome due to the fact that the wireless capsule endoscope is high in energy consumption and large in size of the actively-driven wireless capsule endoscope is solved effectively, the service time of the wireless capsule endoscope is prolonged, the condition that an examinee needs to drink a large amount of water to lubricate.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic perspective view of a wireless capsule endoscope control system according to an embodiment of the present invention;
fig. 2 is a schematic front view of a driving head in a driving device according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a driving head in a driving device according to an embodiment of the present invention;
fig. 4 is a schematic front view of a wireless capsule according to an embodiment of the present invention;
fig. 5 is a schematic cross-sectional view of a wireless capsule according to an embodiment of the present invention;
fig. 6 is a schematic view illustrating a second permanent magnet driving a first permanent magnet to rotate in a wireless capsule endoscope control system provided by an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-wireless capsule endoscope control system, 2-workbench, 10-wireless capsule, 20-driving device, 30-positioning device, 40-control terminal, 11-capsule body, 12-head, 13-tail, 14-camera module, 15-control module, 16-vibration module, 17-battery, 18-wireless communication module, 19-first permanent magnet, 21-driving head, 22-driving mechanism, 31-circuit board, 32-magnetic sensor, 41-operation platform, 42-signal receiver, 43-display, 110-spiral groove, 211-second permanent magnet, 212-driving piece, 213-connecting seat, 214-protective sleeve, 215-connecting flange, 221-base, 222-swing arm group.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. When a component is referred to as being "electrically connected" to another component, it can be electrically connected by conductors, or can be electrically connected by radios, or can be connected by various other means capable of carrying electrical signals. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The term "plurality" means two or more unless specifically limited otherwise.
The wireless capsule endoscope control system provided by the present invention will now be described.
Referring to fig. 1 to 5, the wireless capsule endoscope control system 1 includes a wireless capsule 10 and a driving device 20, wherein the wireless capsule 10 is used for acquiring image information of the alimentary tract of a subject, where a camera module 14, a control module 15, a vibration module 16, a battery 17, a wireless communication module 18 and a first permanent magnet 19 are disposed inside the wireless capsule 10, the camera module 14, the vibration module 16, the battery 17 and the wireless communication module 18 are respectively electrically connected to the control module 15, that is, the control module 15 can control the camera module 14 to capture an image of the alimentary tract of the subject and process the image, control the vibration module 16 to vibrate intermittently, control the battery 17 to provide electric energy to the camera module 14, the vibration module 16 and the wireless communication module 18, and control the wireless communication module 18 to send the image information of the alimentary tract of the subject to the outside; the driving device 20 is used for driving the wireless capsule 10 to move in the digestive tract, where the driving device 20 includes a driving head 21 and a driving mechanism 22, the driving mechanism 22 can drive the driving head 21 to move, that is, the driving mechanism 22 can drive the driving head 21 to perform forward, backward, steering or lifting, and the driving head 21 includes a second permanent magnet 211, the second permanent magnet 211 can attract the first permanent magnet 19, that is, the polarities of the opposite magnetic poles of the first permanent magnet 19 and the second permanent magnet 211 are always different.
It is understood that the vibration module 16 refers to a mechanical component that can vibrate when energized, such as: a vibration motor, an ultrasonic motor, etc., and in the present embodiment, the vibration module 16 is preferably a linear motor, which has the characteristics of simple structure, small volume, low power consumption, etc.
Since the human intestinal tract is a moist and constantly contracting peristaltic organ, the intestinal tract (particularly the small intestine) is in a deflated state without water or food, and the friction of the intestinal wall is high, so that the resistance of the wireless capsule to move in the intestinal tract is increased. When the wireless capsule endoscope control system 1 is used for human intestinal tract examination, the wireless capsule 10 is swallowed by a subject and then enters the intestinal tract, the vibration module 16 intermittently vibrates at a certain time interval under the control of the control module 15 and drives the wireless capsule 10 to vibrate integrally therewith, at the moment, the vibration enables the outer wall of the wireless capsule 10 to be temporarily separated from the inner wall of the intestinal tract, the moving space of the wireless capsule 10 is widened, the contact area between the outer wall of the wireless capsule 10 and the inner wall of the intestinal tract is reduced, the moving resistance of the wireless capsule 10 is further reduced, meanwhile, the second permanent magnet 211 attracts the first permanent magnet 19 from the outside of the body, and the wireless capsule 10 can move smoothly along the traction direction of the driving head 21. It can be understood that during the intestinal examination, the camera module 14 will capture some blurred images due to the vibration generated by the vibration module 16, and these blurred images will be clipped by the control module 15, so that the clarity and integrity of the output images of the wireless capsule 10 will not be affected.
The wireless capsule endoscope control system 1 provided by the utility model adopts the wireless capsule 10 with the built-in vibration module 16, the vibration module 16 has small volume and low energy consumption compared with an active mechanical driving mechanism, the control module 15 controls the vibration module 16 to vibrate intermittently, so that the outer wall of the wireless capsule 10 is separated from the inner wall of the intestinal tract temporarily, the purposes of widening the moving space, reducing the contact area and reducing the resistance are achieved, meanwhile, under the mutual traction of the in vitro second permanent magnet 211 and the in vivo first permanent magnet 19, the wireless capsule 10 can smoothly move in the intestinal tract, thereby effectively solved the wireless capsule endoscope energy consumption of active drive high, bulky, be difficult to overcome the technical problem of intestinal resistance, prolonged the service time of wireless capsule endoscope, avoided the person of being examined to need drink a large amount of water and lubricated the intestinal, promoted the person of being examined's comfort level.
Further, please refer to fig. 1, fig. 4 and fig. 6, as a specific embodiment of the wireless capsule endoscope control system provided by the present invention, a spiral groove 110 is formed on the outer wall of the wireless capsule 10, the spiral groove 110 extends along the axial direction and the circumferential direction of the outer wall of the wireless capsule 10, here, the first permanent magnet 19 is cylindrical, the second permanent magnet 211 is cylindrical or cylindrical, and the first permanent magnet 19 and the second permanent magnet 211 are radially magnetized, that is, one end of the outer diameters of the first permanent magnet 19 and the second permanent magnet 211 is N pole, the other end of the outer diameters of the first permanent magnet 19 and the second permanent magnet 211 is S pole, the driving head 21 further includes a driving member 212, and the driving member 212 is used for driving the second permanent magnet 211 to rotate around the axis thereof. Specifically, the first permanent magnet 19 is annularly arranged on the inner wall of the wireless capsule 10, and the axis of the first permanent magnet 19 is parallel to or on the same straight line with the axis of the wireless capsule 10, when the wireless capsule endoscope control system 1 is used for human intestinal tract examination, the driving mechanism 22 drives the driving head 21 to adjust the position, so that the axis of the second permanent magnet 211 is parallel to the axis of the first permanent magnet 19, when the wireless capsule 10 needs to be driven to move, the driving member 212 drives the second permanent magnet 211 to rotate in the clockwise direction or the counterclockwise direction, according to the principle that like-name repulsions and unlike-name-attractions of magnetic poles, the first permanent magnet 19 rotates in the opposite direction to the second permanent magnet 211 under the traction of the magnetic moment of the second permanent magnet 211, and drives the wireless capsule 10 to integrally rotate, at this time, the spiral groove 110 on the outer wall of the wireless capsule 10 contacts with the inner wall of the intestinal tract to convert the, therefore, the forward or backward movement is realized, the friction force between the outer wall of the wireless capsule 10 and the inner wall of the intestinal tract is effectively converted into the power for driving the wireless capsule 10 to move, the resistance for moving the wireless capsule 10 is reduced, and the movement of the wireless capsule 10 in the intestinal tract is more reliable. It will be appreciated that the intermittent vibration of the vibration module 16 and the passive rotation of the first permanent magnet 19 form a hybrid drive that can be mutually facilitated to provide a more fluid and controlled movement of the wireless capsule 10 within the intestinal tract.
In this embodiment, please refer to fig. 4 and 5, the wireless capsule 10 includes a capsule body 11, a head portion 12 and a tail portion 13, wherein the head portion 12 and the tail portion 13 are respectively connected to two opposite ends of the capsule body 11, a first permanent magnet 19 is annularly disposed on an inner wall of the capsule body 11, a camera module 14 is disposed in the head portion 12, a wireless communication module 18 is disposed in the tail portion 13, and a control module 15, a vibration module 16 and a battery 17 are disposed in an inner cavity of the first permanent magnet 19. Specifically, the head 12 and the tail 13 are respectively connected with the capsule body 11 in a sealing manner, so that external liquid is effectively prevented from permeating into the wireless capsule 10, the head 12 is made of a transparent material, the camera of the camera module 14 is prevented from being shielded, and the tail 13 is made of a non-metal material, so that communication signals are prevented from being shielded; the first permanent magnet 19 covers the inner wall of the whole capsule body 11, so that the surface area of the first permanent magnet 19 is maximized, the magnetic attraction between the first permanent magnet 19 and the second permanent magnet 211 is increased, and the driving reliability of the wireless capsule 10 is improved; the control module 15, the vibration module 16 and the battery 17 are sequentially installed in the inner cavity of the first permanent magnet 19 from one side of the head 12 to one side of the tail 13, so that the structure of the wireless capsule 10 is more compact, which is beneficial to the minimization of the volume of the wireless capsule 10.
Further, referring to fig. 1, as a specific embodiment of the wireless capsule endoscope control system provided by the present invention, the driving mechanism 22 is a six-degree-of-freedom mechanical arm, and the driving head 21 further includes a connecting seat 213, the connecting seat 213 is disposed at the end of the driving mechanism 22, and the driving member 212 is disposed on the connecting seat 213. Specifically, a first controller is arranged inside the connection seat 213, and the first controller is used for controlling the driving member 212 to drive the second permanent magnet 211 to rotate forward or backward; the driving mechanism 22 is a commercially available six-degree-of-freedom mechanical arm, and is composed of a base 221 and a swing arm group 222, wherein a second controller is arranged inside the base 221, the second controller is used for controlling the swing arm group 222 to move along X, Y, Z three orthogonal coordinate axes and rotate around X, Y, Z three orthogonal coordinate axes, one end of the swing arm group 222 is rotatably connected with the base 221, and the other end of the swing arm group 222 is rotatably connected with the connecting base 213, so that the swing arm group 222 can drive the connecting base 213 to drive the second permanent magnet 211 to move forward, backward, turn left, turn right, ascend, descend and the like.
Further, referring to fig. 2 and fig. 3, as a specific embodiment of the wireless capsule endoscope control system provided by the present invention, the driving head 21 further includes a protective sleeve 214 and a connecting flange 215, wherein the protective sleeve 214 is sleeved on the outer side of the second permanent magnet 211, and the connecting flange 215 is used for connecting the protective sleeve 214 and the driving member 212. Specifically, the protective sleeve 214 is made of a permeable material, and the second permanent magnet 211 is fastened inside the protective sleeve 214, so that the second permanent magnet 211 can be protected from being damaged by machining, and the magnetic lines of force of the second permanent magnet 211 are ensured to be uniformly distributed; the driving member 212 is preferably a pan-tilt motor, one end of the connecting flange 215 is fixedly connected with the driving member 212 through a screw, and the other end of the connecting flange 215 is fixedly connected with the protective sleeve 214 through a screw, so that when the driving member 212 is started, the second permanent magnet 211 is driven to rotate through the protective sleeve 214.
Further, referring to fig. 1, as a specific embodiment of the wireless capsule endoscope control system provided by the present invention, the wireless capsule endoscope control system 1 further comprises a positioning device 30, the positioning device 30 is used for detecting the position information of the wireless capsule 10 and the driving head 21, where the positioning device 30 comprises a magnetic sensor 32, and the magnetic sensor 32 is disposed at the bottom side of the workbench 2. Specifically, the table 2 refers to a bed on which the subject lies, the magnetic sensors 32 are regularly arranged on the table 2, and the magnetic sensors 32 can detect the magnetic fields of the first permanent magnet 19 and the second permanent magnet 211 and the position changes in different directions thereof, so that the position information of the wireless capsule 10, the position information of the driving head 21, and the relative position information of the wireless capsule 10 and the driving head 21 can be accurately obtained.
In the present embodiment, the positioning device 30 includes a circuit board 31 and sixteen magnetic sensors 32, wherein the sixteen magnetic sensors 32 are connected to the circuit board 31, and the sixteen magnetic sensors 32 are distributed in a four-by-four rectangular array. Specifically, the circuit board 31 covers the bottom side area of the entire table 2, and the sixteen magnetic sensors 32 are arranged at equal intervals in the longitudinal direction and in the transverse direction, that is, the position relationship between two adjacent magnetic sensors 32 is quantifiable, so that the position information measurement of the first permanent magnet 19 and the second permanent magnet 211 is more accurate and effective. Here, in order to enable the wireless capsule endoscope control system 1 to track the first permanent magnet 19 while driving the first permanent magnet 19 by using the second permanent magnet 211, a kalman filter algorithm is adopted, and the tracking of the first permanent magnet 19 is specifically divided into three steps: the first step is to generate a corresponding sigma point set and weight according to the state variable of the first permanent magnet 19, the second step is to input the state variable and the state estimation error covariance matrix of the previous moment according to the transfer function and weight, predict the state variable and the state estimation error covariance matrix of the current moment, the third step is to input the state variable and the state estimation error covariance matrix predicted at the current moment, obtain a theoretical measurement value according to the measurement function, and iteratively update the state variable and the state estimation error covariance matrix of the current moment according to the measured real value of the magnetic sensor 32, so that the stable tracking and positioning of the first permanent magnet 19 are realized while the second permanent magnet 211 drives the first permanent magnet 19 from the state variable of the first permanent magnet 19 at the previous moment to the state variable at the current moment.
Further, referring to fig. 1, as a specific embodiment of the wireless capsule endoscope control system provided by the present invention, the wireless capsule endoscope control system 1 further includes a control terminal 40, and the control terminal 40 is configured to receive and display image information of the alimentary tract and position information of the wireless capsule 10, and control the operation of the driving device 20.
In the present embodiment, the control terminal 40 includes an operation platform 41, a signal receiver 42 and a display 43, wherein the operation platform 41 is used for sending control signals to the driving device 20, that is, the operation platform 41 can send control signals to the first controller of the driving head 21 and the second controller of the driving mechanism 22 to control the driving mechanism 22 to adjust the action and position of the driving head 21, and control the driving head 21 to drive the wireless capsule 10 in the digestive tract to move forward or backward; the signal receiver 42 is used for receiving the image information of the alimentary tract and the position information of the wireless capsule 10, namely, the signal receiver 42 can receive the image information of the alimentary tract acquired by the camera module 14 of the wireless capsule 10 and sent by the wireless communication module 18 and the position information of the first permanent magnet 19 detected by the positioning device 30, and send the received information to the operation platform 41; the display 43 is used for displaying the image information of the alimentary tract and the position information of the wireless capsule 10, so that the medical staff can intuitively diagnose the illness state of the examinee and know the lesion position of the examinee.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A wireless capsule endoscope control system, comprising:
the wireless capsule is used for acquiring image information of the digestive tract of a detected person, a camera module, a control module, a vibration module, a battery, a wireless communication module and a first permanent magnet are arranged in the wireless capsule, and the camera module, the vibration module, the battery and the wireless communication module are respectively and electrically connected with the control module; and
the driving device is used for driving the wireless capsule to move in the alimentary canal, and comprises a driving head and a driving mechanism capable of driving the driving head to move, wherein the driving head comprises a second permanent magnet, and the second permanent magnet can attract the first permanent magnet.
2. The wireless capsule endoscopic control system of claim 1, wherein the outer wall of the wireless capsule is provided with a spiral groove extending spirally in the axial direction and the circumferential direction, the first permanent magnet is cylindrical, the second permanent magnet is cylindrical or cylindrical, the first permanent magnet and the second permanent magnet are magnetized in the radial direction, and the driving head further comprises:
and the driving piece is used for driving the second permanent magnet to rotate around the axis of the second permanent magnet.
3. The wireless capsule endoscopic control system of claim 2, wherein said vibration module is a linear motor.
4. The wireless capsule endoscopic control system of claim 2, further comprising:
and the positioning device is used for detecting the position information of the wireless capsule and the driving head and comprises a magnetic sensor which is arranged at the bottom side of the workbench.
5. The wireless capsule endoscopic control system of claim 4, wherein said positioning device comprises:
a circuit board; and
sixteen magnetic sensors are connected to the circuit board and distributed in a four-by-four rectangular array.
6. The wireless capsule endoscopic control system of any of claims 2 to 5, further comprising:
and the control terminal is used for receiving and displaying the image information of the alimentary canal and the position information of the wireless capsule and controlling the driving device to operate.
7. The wireless capsule endoscopic control system of claim 6, wherein the wireless capsule comprises a capsule body, a head portion and a tail portion, the head portion and the tail portion are respectively connected to two opposite ends of the capsule body, the first permanent magnet is annularly arranged on the inner wall of the capsule body, the camera module is arranged in the head portion, the wireless communication module is arranged in the tail portion, and the control module, the vibration module and the battery are arranged in an inner cavity of the first permanent magnet.
8. The wireless capsule endoscopic control system of claim 6, wherein said driving mechanism is a six degree of freedom robotic arm, said driving head further comprising a connecting base disposed at a distal end of said driving mechanism, said driving member being disposed on said connecting base.
9. The wireless capsule endoscopic control system of claim 8, wherein said drive head further comprises:
the protective sleeve is sleeved on the outer side of the second permanent magnet; and
and the connecting flange is used for connecting the protective sleeve with the driving piece.
10. The wireless capsule endoscopic control system of claim 6, wherein said control terminal comprises:
the operation platform is used for sending a control signal to the driving device;
the signal receiver is used for receiving the image information of the alimentary canal and the position information of the wireless capsule and sending the received information to the operating platform; and
a display for displaying the image information of the alimentary tract and the location information of the wireless capsule.
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| CN201921752666.7U CN211355356U (en) | 2019-10-15 | 2019-10-15 | Wireless capsule endoscope control system |
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| CN201921752666.7U CN211355356U (en) | 2019-10-15 | 2019-10-15 | Wireless capsule endoscope control system |
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| CN211355356U true CN211355356U (en) | 2020-08-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693445A (en) * | 2019-10-15 | 2020-01-17 | 联博智能科技有限公司 | Wireless capsule endoscope control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693445A (en) * | 2019-10-15 | 2020-01-17 | 联博智能科技有限公司 | Wireless capsule endoscope control system |
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