CN215128253U - Endoscope examination system and medical electric chair - Google Patents
Endoscope examination system and medical electric chair Download PDFInfo
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- CN215128253U CN215128253U CN202022433667.4U CN202022433667U CN215128253U CN 215128253 U CN215128253 U CN 215128253U CN 202022433667 U CN202022433667 U CN 202022433667U CN 215128253 U CN215128253 U CN 215128253U
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Abstract
The application discloses endoscope system of examining, endoscope and medical treatment electronic chair, wherein this system includes: the medical electric chair comprises a capsule endoscope, a magnetic field positioning module, a controller and a medical electric chair, wherein the capsule endoscope is used for acquiring posture information of the capsule endoscope; the magnetic field positioning module is used for acquiring the position information of the capsule type endoscope; the controller is used for calculating control magnetic field data according to the attitude information and the position information; the medical electric chair is used for generating a target magnetic field according to the control magnetic field data and adjusting the self state to the target state. The capsule endoscope control device is favorable for improving the control degree of the capsule endoscope, ensures the precision of the examination part, and improves the comfort of the examined person through the cooperation of the electric medical chair.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a magnetic control capsule type endoscope examination system and device.
Background
Capsule endoscopes, as a new device for diagnosing digestive tract diseases in recent years, have been widely used in clinical applications and research owing to their excellent diagnostic effects and painless and noninvasive detection methods. At present, magnetic control is introduced into a magnetic control capsule endoscope on the basis of a common capsule endoscope, namely, a small permanent magnet is installed in the capsule endoscope, and the capsule is guided to move through an external magnetic field, so that the controllable motion of the capsule endoscope in the digestive tract of a human body is realized. The magnetic control capsule type endoscope has the advantages of high real-time controllability, stable and reliable power source, comprehensive and rapid detection, high patient comfort and the like, and becomes a research hotspot at present.
However, the external magnetic source of the conventional magnetic capsule endoscope is generally a permanent magnet, and the main method of changing the magnetic field intensity by the permanent magnet is manual passive adjustment of the position. The permanent magnet type external magnetic source is lack of combination with the position and the posture of the capsule type endoscope, so that the pose of the capsule type endoscope in the three-dimensional space of the gastric cavity cannot be accurately controlled, the whole examination process is prolonged, and the comfort degree of a patient is reduced. In addition, the patient is required to change the body position by oneself to assist the examination in the examination process of the existing magnetic control endoscope, and the capsule is in an uncontrollable state in the process that the patient turns over the human body, so that the examination time is increased, and the comfort level of the patient is reduced.
Therefore, how to improve the controllable degree and the positioning accuracy of the capsule endoscope, and further shorten the examination time and improve the comfort of the patient is a problem to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The application aims to provide an endoscope examination system, an endoscope examination device and an endoscope examination method, which aim to improve the automation degree and the positioning accuracy of the endoscope examination system through closed-loop control of posture information and position information of a capsule endoscope, and ensure the comfort level of an examinee while assisting endoscope examination through automatic adjustment of a medical electric chair.
According to one aspect of the present application, there is provided an endoscopic examination system comprising: capsule type endoscope, magnetic field positioning module, controller and medical electric chair, wherein,
the capsule type endoscope is used for acquiring the posture information of the capsule type endoscope;
the magnetic field positioning module is used for acquiring the position information of the capsule type endoscope;
the controller is configured to calculate control magnetic field data according to the attitude information and the position information, where the control magnetic field data includes: target magnetic field information for controlling the capsule type endoscope to adjust to a target position and a target posture, and target state information for controlling the medical electric chair to adjust to a target state; and
the medical electric chair comprises: a magnetic field generation module and a state adjustment module, wherein
The magnetic field generation module is used for generating a target magnetic field according to the control magnetic field data; and
and the state adjusting module is used for adjusting to a target state according to the control magnetic field data.
In one embodiment, the capsule endoscope has: a ring-shaped permanent magnet, wherein,
and the annular permanent magnet is used for moving according to the target magnetic field.
In one embodiment, the coupling means of the capsule type endoscope includes: wireless connection or wired connection.
In one embodiment, when the capsule endoscope is a wired capsule endoscope, the endoscope includes: a cylindrical permanent magnet and a hose, wherein,
the cylindrical permanent magnet is used for moving according to the target magnetic field; and
the hose is used for connecting the controller, and an expansion body is nested on the hose.
In one embodiment, the magnetic field generating module comprises: an electromagnet module or a permanent magnet module.
In one embodiment, the state adjustment module has: an information receiving unit, a first rotating unit, a second rotating unit, an axial rotating unit, a backrest, a cushion and a leg protection support, wherein,
the information receiving unit is used for receiving the control magnetic field data of the controller;
the first rotating unit is used for adjusting an included angle between the backrest and the seat cushion according to the control magnetic field data;
the second rotating unit is used for adjusting an included angle between the seat cushion and the leg support according to the control magnetic field data;
and the axial rotation unit is used for controlling the circumferential rotation of the whole backrest, the cushion and the leg support according to the control magnetic field data.
According to an aspect of the present application, there is provided an endoscopic device including:
a gesture recognition module and a circular permanent magnet, wherein,
the gesture recognition module is used for acquiring gesture information of the endoscope device; and
the annular permanent magnet is used for enabling the endoscope device to move under the action of the magnetic field.
In one embodiment, when the endoscope apparatus is a wired capsule type endoscope, it includes: a cylindrical permanent magnet and a hose, wherein,
the cylindrical permanent magnet is used for moving according to the target magnetic field; and
the hose is used for information interaction with the outside, and the expansion body is nested in the hose.
According to an aspect of the present application, there is provided a medical power chair apparatus including: a state adjustment module and a magnetic field generation module, wherein,
the state adjusting module is used for adjusting to a target state according to the control magnetic field data of the controller; and
and the magnetic field generation module is used for generating a target magnetic field according to the control magnetic field data of the controller.
In one embodiment, the status adjustment module has:
an information receiving unit, a first rotating unit, a second rotating unit, an axial rotating unit, a backrest, a cushion and a leg-protecting support, wherein
The information receiving unit is used for receiving control magnetic field data;
the first rotating unit is used for adjusting an included angle between the backrest and the seat cushion according to the control magnetic field data;
the second rotating unit is used for adjusting an included angle between the seat cushion and the leg support according to the control magnetic field data;
and the axial rotation unit is used for controlling the circumferential rotation of the whole backrest, the cushion and the leg support according to the control magnetic field data.
In one embodiment, the magnetic field generating module comprises: an electromagnet module or a permanent magnet module.
According to the technical scheme of the embodiment, at least the following beneficial effects can be obtained.
(1) According to the endoscope examination system of an embodiment of the application, be favorable to promoting the degree of control to capsule type endoscope, guaranteed the precision at examination position, simultaneously through the cooperation of electronic medical chair, promoted the person's of being examined comfort level.
(2) According to the capsule type endoscope device provided by the embodiment of the application, the self pose state can be adjusted according to the guidance of an external magnetic field, in addition, the structure arrangement of the wired capsule type endoscope can provide more sufficient illumination and higher-quality images, the accurate positioning of the specific part of the detected person and the operations of biopsy administration and the like are facilitated, and the single function of the existing capsule type endoscope is avoided.
(3) According to the medical treatment electric chair device of this application embodiment, be favorable to combining the person's body position of will adjusting the person of being examined with the generation target magnetic field, guaranteed the person's of being examined comfort level, also avoided the error that artificial adjustment body position brought simultaneously, promoted automatic degree.
(4) According to the endoscope examination method, the accuracy of the examined part is improved through closed-loop control of the pose, the automation degree of the examination process is improved, and errors caused by manual operation are avoided.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings.
FIG. 1 is a block diagram of an endoscopic examination system;
FIG. 2 is a schematic diagram of an endoscopic examination system;
FIG. 3 is a schematic diagram of an information receiving garment;
FIG. 4 is a schematic diagram of the posture of the capsule endoscope under the action of different magnetic fields and different body positions;
fig. 5 is a moving trajectory of the capsule type endoscope moved from the posture shown in fig. 4(e) to the posture shown in fig. 4(F) and directions of the magnetic field (B), the magnetic force (F) and the magnetic moment (T) corresponding to the main trajectory;
FIG. 6 is a schematic structural diagram of a capsule endoscope, in which a is a schematic structural diagram of a wireless capsule endoscope, and b is a schematic structural diagram of a wired capsule endoscope;
FIG. 7 is a schematic view showing the operation of the wired capsule type endoscope in the human intestinal tract;
FIG. 8 is a schematic structural view of the medical electric chair;
FIG. 9 is a schematic view of the medical electric chair in a normal operation state of the first rotating unit;
FIG. 10 is a schematic view of the state of the medical electric chair in the limit operation of the first rotating unit;
FIG. 11 is a schematic view of the medical electric chair in different rotation angles of the axial rotation unit;
FIG. 12 is a schematic structural view of a permanent magnet module;
FIG. 13 is a schematic view of the electromagnet module;
fig. 14 is a flowchart of an endoscopic examination method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Fig. 1 is a block diagram showing the structure of an endoscopic examination system, and fig. 2 is a schematic view showing the structure of an endoscopic examination system.
As shown in fig. 1 and 2, the present embodiment provides an endoscopic examination system, which is mainly used for examining the digestive tract, that is, by adjusting the position and posture of an endoscope, image capturing of each important part of the digestive tract is realized. For example, according to the clinical experience of stomach screening, the gastroscopic examination can be completed only by taking 22 images of 6 different angles of the stomach.
Specifically, the endoscope examination system is composed of a controller 1, a capsule endoscope 2, a magnetic field positioning module 3, and an electric medical chair 4.
In one embodiment, the controller 1 includes a control unit 11, a display 12, and a handle 13.
Further, the control unit 11 is composed of a communication subunit, a magnetic field control subunit, and an artificial intelligence image identification subunit. The communication subunit is used for being in communication connection with the capsule type endoscope 2 and the magnetic field positioning module 3 to acquire image information of the detected part and actual posture information of the detected part fed back by the capsule type endoscope 2 and acquire actual position information of the capsule type endoscope 2 fed back by the magnetic field positioning module 3. And the magnetic field control subunit further generates control magnetic field data according to the fed back position information, the fed back attitude information and the fed back image information and the target position of the detected part to be shot next. The control magnetic field data mainly includes: target magnetic field information for controlling the capsule endoscope 2 to adjust to a target position and a target posture, and target state information for controlling the medical electric chair 4 to adjust to a target state. The target magnetic field information includes the direction and the strength of the target magnetic field, and the target state includes the included angle between each component of the electric medical chair 4. For example, when performing gastroscopy, when the capsule endoscope 2 has taken an image of a first important part, the image information of the important part, and the actual position and actual attitude information of the capsule endoscope 2 at present are fed back to the magnetic field control subunit, and at this time, the magnetic field control subunit checks the fed-back actual pose information and image information, and further combines the position of the next important part to generate control magnetic field data. The control magnetic field data can control the capsule type endoscope 2 to adjust the position and the posture, and examination and shooting of the next key part are realized. And after receiving the image information, the artificial intelligence identification subunit identifies the pathological change condition of the current image information according to a preset deep learning result, and further outputs an examination report aiming at the image information.
The display 12 is used for the image information fed back by the capsule endoscope 2, and the doctor can clearly receive the image of the examined part through the display 12 so as to assist the system to obtain a more accurate examination report.
In one embodiment, the capsule endoscope 4 can be implemented in two ways, including a wireless capsule endoscope or a wired capsule endoscope.
Specifically, the wireless capsule type endoscope is provided with an illumination module for providing a light source for self shooting. The device is also provided with an image acquisition module for acquiring the image of the detected part at the current position and the pitch angle state of the device.
The magnetic field generator is further provided with an annular permanent magnet which is axially magnetized and used for responding to the action of the magnetic field generation module and further adjusting the self pose state to the target position and the target posture.
The embodiment is further provided with an attitude identification module for identifying the pitch angle information of the user.
The embodiment is further provided with a radio frequency module and an antenna, and is used for feeding back the image information shot by the controller and the acquired attitude information to the controller 1 so as to realize information interaction with the controller 1.
Of course, the present embodiment is further provided with a power supply module, such as a battery, for providing power for the operation of each module.
Fig. 3 is a schematic diagram of an information receiving device.
As shown in fig. 3, in one embodiment, an information receiving garment 6 is further provided, and the examinee wears the information receiving garment 6 before the examination and pairs the same with the wireless capsule endoscope, and is used for receiving the image information and the posture information sent by the wireless capsule endoscope and sending the image information and the posture information to the controller 1, so that the influence on the signal receiving effect due to the fact that the wireless capsule endoscope is in the examinee body is avoided.
Specifically, the wired capsule endoscope is also provided with an illumination module, an image acquisition module, a circular permanent magnet and a posture recognition module, and the specific functions and implementation modes are as described above and are not repeated herein. In addition, the wired capsule type endoscope is also provided with a cylindrical permanent magnet which is used for enhancing the overall magnetism of the wired capsule type endoscope so as to move according to the target magnetic field. And a hose is further arranged, one end of the hose penetrates through the wired capsule endoscope and is in communication connection with each module, and the other end of the hose is exposed outside the wired capsule endoscope and is connected with the controller 1, so that information interaction between the wired capsule endoscope and the controller 1 is realized. In addition, an expansion body penetrates through the hose part between the controller 1 and the wired capsule endoscope, and after a fixing instruction of the controller 1 is received, the hose inflates the expansion body to enable the expansion body to be fixed at the detected part in an expansion mode, so that the operations of accurate shooting, biopsy administration and the like of the part are realized, and the application of the capsule endoscope is enriched.
In one embodiment, the wired capsule type endoscope may also receive a water filling instruction of the controller 1. Specifically, after receiving a water injection instruction from the controller 1, the cleaning liquid is injected into the wired capsule endoscope through the hose to clean the lens of the image acquisition module, so that the definition of the acquired image is ensured. Certainly, can also spray clean liquid to the examined position through the hose, avoid examined the position and sheltered from by the dirt, and then supplementary image acquisition module gathers clearer examined position picture.
In one embodiment, the magnetic field positioning module 3 is designed independently, is placed in the external space above the examined part of the examined person, and is used for acquiring the position of the capsule in the three-dimensional space of the stomach of the human body and sending the position information to the controller 1, so that the controller 1 can calculate the magnetic field information required by the next operation. The magnetic field positioning module 3 mainly comprises a three-dimensional Hall sensor array, a high-speed information acquisition module and an operation module, and is used for fitting the optimal capsule position and posture by an optimization algorithm through analyzing and measuring the difference value between the obtained magnetic field information and the magnetic field information of the magnetic field control module, so that the optimal capsule position and posture information is taken as the current capsule posture information.
In one embodiment, the motorized medical chair 4 includes a condition adjustment module 41 and a magnetic field generation module 42.
Specifically, the state adjustment module 41 is composed of an information receiving unit, a first rotation unit, a second rotation unit, an axial rotation unit 433, a backrest, a seat cushion, and a leg protector.
The information receiving unit is mainly used for receiving control magnetic field data sent by the controller 1.
The first rotating unit adjusts the included angle between the backrest and the seat cushion according to the requirement of the control magnetic field data, and the included angle ranges from 100 degrees to 200 degrees. The second rotating unit adjusts the included angle between the cushion and the leg support according to the requirement of the control magnetic field data, so that the plane where the leg support is located is parallel to the plane where the backrest is located. The axial rotation unit 433 makes the entire medical electric chair 4 perform circumferential rotation with its own central axis as an axis according to the requirement of controlling the magnetic field data. The driving devices of the first rotating unit, the second rotating unit and the axial rotating unit 433 include a servo motor and a transmission mechanism. In addition, the auxiliary adjustment of the first rotating unit and the second rotating unit is carried out through the second handle, and the fool-proof function of the machine is achieved.
Specifically, the magnetic field generating module 42 includes two driving schemes, a permanent magnet module and an electromagnet module. Both driving schemes consist of a bottom main driving magnetic field unit 421 and a side electromagnetic auxiliary unit 422. The side electromagnetic assisting unit 422 is used for assisting in generating a target magnetic field contained in the control magnetic field data, is composed of an electromagnetic coil and an iron core, and is installed on both sides of the medical electric chair. The bottom main driving magnetic field unit 421 is fixedly connected to the axial rotation unit 433, and can rotate along the axial direction of the medical electric chair 4 along with the axial rotation unit 433. In addition, when the magnetic field generating module 42 is an electromagnet module, the bottom main driving magnetic field unit 421 forms a specific array by a copper coil including an iron core, and generates a target magnetic field to drive the movement of the capsule endoscope through the change of current, so that the position movement of the electromagnet module is not required in the whole process, and the generated magnetic field is stable. When the magnetic field generating module 42 is a permanent magnet module, the permanent magnet is mounted on a four-degree-of-freedom motion platform, and the first handle assists in changing the position by combining the circumferential motion of the axial rotating unit 433, so that a target magnetic field can be generated to drive the motion of the capsule type endoscope.
When the capsule type endoscope 2 is driven by a target magnetic field and adjusted to a target position and a target posture, the actual position and the actual posture are fed back to the controller 1, so that the actual posture is checked by the controller 1, control magnetic field data required for diagnosing the next key position is calculated according to the actual posture, and further closed-loop control over the posture is achieved.
In one embodiment, when the magnetic field generating module 42 is a permanent magnet module, the five-degree-of-freedom movement of the permanent magnet can be manually controlled by controlling the first handle. In addition, the state adjustment of the medical electric chair can also be manually adjusted by controlling the second handle, and the working modes of the rest modules are the same as the above and are not described again.
Fig. 4 is a schematic diagram of the posture of the capsule endoscope under the action of different magnetic fields and different body positions.
As shown in fig. 4, in an embodiment, the capsule endoscope 2 takes images of 6 positions of the stomach at different angles under the control of the state adjusting module 41 and the magnetic field generating module 42 to acquire images of 22 key examination areas, for example, the body positions of the subjects in fig. 4(a) and fig. 4(b) are consistent, and the positions and postures of the capsule endoscope 2 are changed by controlling different magnetic fields generated by the magnetic field generating module 42. Similarly, as shown in fig. 4(c) and 4(d), the capsule endoscope 2 is driven to adjust the position and posture by adjusting the posture change of the subject by the state adjusting module 41 in combination with the different magnetic fields generated by the magnetic field generating module 42, so as to obtain the image information of the other two positions at different angles. Similarly, as shown in fig. 4(e) and 4(f), the posture of the subject is adjusted again by the state adjustment module 41, and the magnetic field data generated by the magnetic field generation module 42 is changed again, so that the capsule endoscope 2 finally completes the photographing of the 6 positions of the stomach at 22 angles, and thus the entire stomach gastroscopy is completed.
Fig. 5 shows the moving trajectory of the capsule endoscope from the posture shown in fig. 4(e) to the posture shown in fig. 4(F) and the directions of the magnetic field (B), the magnetic force (F) and the magnetic moment (T) corresponding to the main trajectory.
As shown in fig. 5, specifically, when the capsule endoscope 2 is adjusted from the posture shown in fig. 4(e) to the posture shown in fig. 4(f), the posture of the subject is kept unchanged, and at this time, only the magnitude and direction of the magnetic field generating module 42 are changed. The magnetic fields with different sizes and different directions generate different magnetic forces and magnetic moments for the capsule type endoscope 2, the capsule type endoscope 2 is driven to adjust the position and the posture for four times, and finally the position and the posture are moved to the pose shown in fig. 4 (f).
Example two
Fig. 6 is a schematic structural diagram of a capsule endoscope, in which a is a schematic structural diagram of a wireless capsule endoscope, and b is a schematic structural diagram of a wired capsule endoscope.
As shown in fig. 2, the present application provides a capsule type endoscope apparatus.
Specifically, a wireless capsule endoscope and a wired capsule endoscope are included.
The wireless capsule type endoscope consists of an illumination module 21, an image acquisition module 22, a circular permanent magnet 23, an attitude identification module 24, a radio frequency module 25, a power supply module 26 and an antenna 27.
The lighting module 21 is used for providing a light source for self shooting. And the image acquisition module 22 is used for acquiring the image of the detected part in the current position and pitch angle state. The annular permanent magnet 23 is axially magnetized and used for responding to the action of the magnetic field generation module so as to adjust the pose state to the target position and the target posture. And the attitude identification module 24 is used for identifying the pitch angle information of the vehicle. And the radio frequency module 25 and the antenna 27 are used for feeding back the image information shot by the self and the acquired attitude information to the external controller so as to realize information interaction with the external controller. A power module 26, such as a battery, is used to provide power for operation of its various modules.
The wired capsule type endoscope is composed of an illumination module 21, an image acquisition module 22, a ring-shaped permanent magnet 23, a posture recognition module 24, a cylindrical permanent magnet 28 and a hose 29.
The specific functions and implementations of the illumination module 21, the image acquisition module 22, the annular permanent magnet 23 and the gesture recognition module 24 are as described above, and are not described herein again. In this embodiment, one end of the hose 29 passes through the wired capsule endoscope and is connected to each module in a communication manner, and the other end of the hose is exposed to the outside of the wired capsule endoscope and is connected to an external controller, so as to realize information interaction between the wired capsule endoscope and the external controller. In addition, the expansion body 291 is inserted through the hose 29 between the external controller and the wired capsule endoscope, and when a fixing command from the external controller is received, the hose inflates the expansion body 291 to be fixed to the detected portion, so that the operations such as precise photographing and biopsy administration of the portion are realized, and the application of the capsule endoscope is enriched.
In one embodiment, the wired capsule type endoscope may also receive a water filling instruction of the controller 1. Specifically, after receiving a water injection instruction from the controller 1, the cleaning liquid is injected into the wired capsule endoscope through the hose to clean the lens of the image acquisition module, so that the definition of the acquired image is ensured. Certainly, can also spray clean liquid to the examined position through the hose, avoid examined the position and sheltered from by the dirt, and then supplementary image acquisition module gathers clearer examined position picture.
Fig. 7 is a schematic view showing the operation of the wired capsule type endoscope in the human intestinal tract.
As shown in fig. 7, when the wired capsule endoscope is used to perform operations such as precise photographing or biopsy administration on the human intestinal tract, the hose 29 inflates the inflatable body 291 according to a fixing instruction of the external controller, so that the inflatable body 291 is inflated to generate two upper and lower contact points with the human intestinal tract wall 5, the friction force between the inflatable body 291 and the human intestinal tract wall 5 is increased through the contact points, the inflatable body 291 is clamped between the two upper and lower intestinal tract walls of the human intestinal tract wall 5, and the wired capsule endoscope is fixed. The fixed pivot is provided for the operations of accurate shooting or biopsy administration and the like of the wired capsule type endoscope.
EXAMPLE III
FIG. 8 is a schematic structural view of the medical electric chair; FIG. 9 is a schematic view of the medical electric chair in a normal operation state of the first rotating unit; FIG. 10 is a schematic view of the state of the medical electric chair in the limit operation of the first rotating unit; fig. 11 is a schematic view of the medical electric chair in different rotation angles of the axial rotation unit.
As shown in fig. 8, the present embodiment provides a medical electric chair apparatus.
Specifically, the medical electric chair device comprises a state adjusting module and a magnetic field generating module.
Wherein the state adjustment module is provided with an information receiving unit, a headrest 411, a backrest 412, armrests 413, a link 414, a seat cushion 415, a legrest 416, pedals 417, a first rotating unit 431, a second rotating unit 432, and an axial rotating unit 433.
In one embodiment, the back 412 and the seat 415 are connected by a link 414, the seat 415 and the legrest 416 are connected by a link 414, and the link 414 is in the form of a pivoting hinge. The first rotating unit 431 is arranged between the backrest 412 and the seat cushion 415 and is used for driving and adjusting an included angle between the backrest 412 and the seat cushion 415 according to the magnetic field data, and the adjustment range of the included angle is between 100 degrees and 200 degrees. The medical electric chair apparatus shown in fig. 8 is in a ready state, and an included angle formed by a plane of the backrest 412 and a plane of the seat cushion 415 is 100 degrees. The medical electric chair device shown in fig. 9 is in a normal working state, and an included angle formed by a plane where the backrest 412 is located and a plane where the seat cushion 415 is located is 180 degrees. The medical electric chair device shown in fig. 10 is in an extreme working state, and an included angle formed by a plane where the backrest 412 is located and a plane where the seat cushion 415 is located is 200 degrees.
In one embodiment, the second rotating unit 432 is fixedly disposed between the seat cushion 415 and the leg rest 416, and is used for driving and adjusting an included angle between the seat cushion 415 and the leg rest 416 according to the magnetic field data, so that the plane of the leg rest 416 is parallel to the plane of the backrest 412.
In one embodiment, the axial rotation unit 433 is fixedly connected to the seat cushion 415 for driving the whole medical electric chair to rotate circumferentially, i.e. toward the lateral direction of the subject, according to the control magnetic field data, and the rotation angle ranges from-90 degrees to 90 degrees. As shown in fig. 11, fig. 11(a) shows a state of the medical electric chair device when the turning angle is 0 degrees, fig. 11(b) shows a state of the medical turning chair device when the turning angle is 45 degrees, and fig. 11(c) shows a state of the medical turning chair device when the turning angle is 90 degrees. Likewise, when the axial rotation unit 433 rotates reversely, the state of the medical electric chair apparatus is opposite to the state shown in fig. 11.
In one embodiment, the first rotating unit 431, the second rotating unit 432, and the axial rotating unit 433 are all powered by a driving device including a servo motor and a transmission mechanism.
In one embodiment, the status adjustment module 41 is further provided with a shoulder safety buckle 418 and a waist safety buckle 419 for ensuring that there is no relative movement between the subject and the medical electric chair, so as to avoid the occurrence of rotation error and the risk of slipping of the subject during rotation.
Specifically, the magnetic field generation module comprises two driving schemes of a permanent magnet module and an electromagnet module. Both driving schemes consist of a bottom main driving magnetic field unit 421 and a side electromagnetic auxiliary unit 422. The side electromagnetic assisting unit 422 is used for assisting in generating a target magnetic field contained in the control magnetic field data, is composed of an electromagnetic coil and an iron core, and is installed on both sides of the medical electric chair. The bottom main driving magnetic field unit 421 is fixedly connected to the axial rotation unit 433, and can rotate along the axial direction of the medical electric chair along with the axial rotation unit 433.
FIG. 12 is a schematic structural view of a permanent magnet module; FIG. 13 is a schematic diagram of the electromagnet module.
As shown in fig. 13, in one embodiment, when the magnetic field generating module 42 is an electromagnet module, the bottom main driving magnetic field unit 421 forms a specific array by the iron core 427 and the copper coil 426 wrapping the iron core 427, generates a target magnetic field to drive the movement of the capsule type endoscope through the change of current, the whole process does not need the position movement of the electromagnet module, and the generated magnetic field is stable.
As shown in fig. 12, in one embodiment, when the magnetic field generating module 42 is a permanent magnet module, the permanent magnet 423 is mounted on a four-degree-of-freedom motion platform composed of an X-axis 421 and a Y-axis 422, and the permanent magnet 423 is driven by the top motor 424 and the bottom motor 425, and simultaneously combined with the circumferential motion of the axial rotating unit 433 and the auxiliary movement of the second handle, can generate a target magnetic field to drive the motion of the capsule type endoscope 2.
The medical electric chair 4 of this embodiment has integrated magnetic field generation module 42 and state regulation module 41, and then has realized adjusting the position of the person being examined and has combined with the generation target magnetic field, has guaranteed the comfort level of the person being examined, has also avoided the error that artificial adjustment position brought simultaneously, has promoted automatic degree.
Example four
Fig. 4 is a flowchart of an endoscopic examination method.
As shown in fig. 4, the present embodiment provides an endoscopic examination method including the steps of:
step S1, calculating control magnetic field data by a controller, wherein the control magnetic field data comprises target magnetic field information for controlling the capsule type endoscope to move to a target position and a target posture;
step S2, generating a target magnetic field by the magnetic field generating module according to the control magnetic field data;
and step S3, adjusting the position and the posture of the capsule endoscope to a target position and a target posture according to the target magnetic field.
In one embodiment, after the capsule endoscope adjusts the position and posture of the capsule endoscope to a target position and a target posture according to the target magnetic field, the method further comprises: feeding back the actual position of the capsule type endoscope to the controller by a magnetic field positioning module; adjusting, by the controller, the control magnetic field data according to the actual position; updating the target magnetic field by a magnetic field generation module according to the adjusted control magnetic field data; and modifying the position of the capsule endoscope to a target position according to the updated target magnetic field.
In one embodiment, after the capsule endoscope adjusts the position and posture of the capsule endoscope to a target position and a target posture according to the target magnetic field, the method further comprises: feeding back the actual posture of the capsule endoscope to the controller; adjusting, by the controller, the control magnetic field data according to the actual pose; updating the target magnetic field by a magnetic field generation module according to the adjusted control magnetic field data; and modifying the posture of the capsule endoscope to a target posture according to the updated target magnetic field.
In one embodiment, after the capsule endoscope adjusts the position and posture of the capsule endoscope to a target position and a target posture according to the target magnetic field, the method further comprises: feeding back, by the capsule endoscope, image information to the controller; identifying, by the controller, a subject region to which the image information corresponds; adjusting, by the controller, the control magnetic field data according to the examined region; updating the target magnetic field by a magnetic field generation module according to the adjusted control magnetic field data; and modifying the posture of the capsule endoscope to a target posture according to the updated target magnetic field.
Each step of this embodiment is implemented by a corresponding module in the first embodiment, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (9)
1. An endoscopic examination system, comprising: capsule type endoscope, magnetic field positioning module, controller and medical electric chair, wherein,
the capsule type endoscope is used for acquiring the posture information of the capsule type endoscope;
the magnetic field positioning module is used for acquiring the position information of the capsule type endoscope;
the controller is configured to calculate control magnetic field data according to the attitude information and the position information, where the control magnetic field data includes: target magnetic field information for controlling the capsule type endoscope to adjust to a target position and a target posture, and target state information for controlling the medical electric chair to adjust to a target state; and
the medical electric chair comprises: a magnetic field generation module and a state adjustment module, wherein
The magnetic field generation module is used for generating a target magnetic field according to the control magnetic field data; and
and the state adjusting module is used for adjusting to a target state according to the control magnetic field data.
2. The endoscopy system of claim 1,
the capsule type endoscope comprises: a ring-shaped permanent magnet, wherein,
and the annular permanent magnet is used for moving according to the target magnetic field.
3. The endoscopy system of claim 2, wherein the capsule endoscope is coupled in a manner comprising: wireless connection or wired connection.
4. The endoscopy system of claim 3, wherein, when the capsule endoscope is a wired capsule endoscope, the endoscope system comprises: a cylindrical permanent magnet and a hose, wherein,
the cylindrical permanent magnet is used for moving according to the target magnetic field; and
the hose is used for connecting the controller, and an expansion body is nested on the hose.
5. The endoscopy system of claim 1,
the magnetic field generation module comprises: an electromagnet module or a permanent magnet module.
6. The endoscopy system of claim 1,
the state adjustment module has: an information receiving unit, a first rotating unit, a second rotating unit, an axial rotating unit, a backrest, a cushion and a leg protection support, wherein,
the information receiving unit is used for receiving the control magnetic field data of the controller;
the first rotating unit is used for adjusting an included angle between the backrest and the seat cushion according to the control magnetic field data;
the second rotating unit is used for adjusting an included angle between the seat cushion and the leg support according to the control magnetic field data;
and the axial rotation unit is used for controlling the circumferential rotation of the whole backrest, the cushion and the leg support according to the control magnetic field data.
7. A medical power chair, comprising: a state adjustment module and a magnetic field generation module, wherein,
the state adjusting module is used for adjusting to a target state according to the control magnetic field data of the controller; and
and the magnetic field generation module is used for generating a target magnetic field according to the control magnetic field data of the controller.
8. The medical powered chair as claimed in claim 7, wherein the status adjustment module has:
an information receiving unit, a first rotating unit, a second rotating unit, an axial rotating unit, a backrest, a cushion and a leg-protecting support, wherein
The information receiving unit is used for receiving control magnetic field data;
the first rotating unit is used for adjusting an included angle between the backrest and the seat cushion according to the control magnetic field data;
the second rotating unit is used for adjusting an included angle between the seat cushion and the leg support according to the control magnetic field data;
and the axial rotation unit is used for controlling the circumferential rotation of the whole backrest, the cushion and the leg support according to the control magnetic field data.
9. The medical powered chair of claim 7, wherein the magnetic field generating module comprises: an electromagnet module or a permanent magnet module.
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| CN202022433667.4U CN215128253U (en) | 2020-10-28 | 2020-10-28 | Endoscope examination system and medical electric chair |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451848A (en) * | 2022-04-13 | 2022-05-10 | 广州思德医疗科技有限公司 | Endoscope capsule track guiding method, device and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451848A (en) * | 2022-04-13 | 2022-05-10 | 广州思德医疗科技有限公司 | Endoscope capsule track guiding method, device and system |
| CN114451848B (en) * | 2022-04-13 | 2022-07-29 | 广州思德医疗科技有限公司 | Endoscope capsule track guiding method, device and system |
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