WO2018090671A1 - 一种胶囊胃镜磁控制系统 - Google Patents

一种胶囊胃镜磁控制系统 Download PDF

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Publication number
WO2018090671A1
WO2018090671A1 PCT/CN2017/095761 CN2017095761W WO2018090671A1 WO 2018090671 A1 WO2018090671 A1 WO 2018090671A1 CN 2017095761 W CN2017095761 W CN 2017095761W WO 2018090671 A1 WO2018090671 A1 WO 2018090671A1
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WIPO (PCT)
Prior art keywords
control system
axis
magnet
magnetic control
capsule gastroscope
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PCT/CN2017/095761
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English (en)
French (fr)
Inventor
邓文军
王建平
刘少平
孙仁辉
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深圳市资福技术有限公司
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=58594796&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2018090671(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 深圳市资福技术有限公司 filed Critical 深圳市资福技术有限公司
Priority to US16/349,539 priority Critical patent/US20190282075A1/en
Priority to EP17872866.3A priority patent/EP3542702A4/en
Priority to JP2019546958A priority patent/JP2020501851A/ja
Priority to KR1020197016843A priority patent/KR20190084102A/ko
Publication of WO2018090671A1 publication Critical patent/WO2018090671A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/733—Arrangement of the coils or magnets arranged only on one side of the patient, e.g. under a table

Definitions

  • the invention belongs to the field of medical instruments, and in particular relates to a capsule gastroscope magnetic control system.
  • a gastric examination method using a capsule gastroscope as a stomach detecting device which only needs to be lying on the platform, and is pre-swallowed by the magnetic control system disposed above the human body.
  • the capsule gastroscope in the stomach, with the camera and the illumination device performs position adjustment control, thereby achieving the purpose of changing the observation angle, so that the suffering of the subject is greatly reduced.
  • the stomach when the human body is lying down, the stomach will be deformed by the action of gravity, which will greatly reduce the space of the stomach cavity, which not only makes the magnetic control system have a poor control effect on the capsule gastroscope, but also reduces the space and affects the capsule gastroscope.
  • the shooting effect requires multiple movement control of the capsule gastroscope through the magnetic control system to complete the imaging of the stomach environment, which makes the shooting time longer and the image rendering effect is poor.
  • the embodiment of the invention provides a capsule gastroscope magnetic control system, which aims to solve the problem that the prior lying capsule gastroscope magnetic control system has a long shooting time and a poor image rendering effect.
  • a capsule gastroscope magnetic control system comprising:
  • the magnetic control device comprising:
  • Position control device disposed on the frame to move the magnet on a surface at an angle of 90 ⁇ 30 degrees with a horizontal plane;
  • a magnetic line direction adjusting device is disposed on the position control device for adjusting a magnetic line direction of the magnet.
  • the subject ingests the capsule gastroscope with the camera and the illumination device into the stomach in advance
  • the subject stands vertically in front of the capsule gastroscope system
  • the examiner can control the capsule gastroscope magnetic control system through the position control device.
  • the magnet in the middle moves at an angle of 90 ⁇ 30 degrees with the horizontal plane, and uses the magnetic line direction adjusting device to control the movement of the capsule gastroscope in the stomach of the subject to obtain the intragastric image.
  • FIG. 1 is a view showing a positional relationship between a capsule gastroscope magnetic control system and a subject according to an embodiment of the present invention
  • FIG. 2 is a structural diagram of a capsule gastroscope magnetic control system according to an embodiment of the present invention.
  • FIG. 3 is a structural diagram of a magnetic line direction adjusting device according to an embodiment of the present invention.
  • the subject ingests the capsule gastroscope with the camera and the illumination device into the stomach in advance
  • the subject stands vertically in front of the capsule gastroscope system
  • the examiner can control the capsule gastroscope magnetic control through the position control device.
  • the magnet in the system moves on a plane that is at an angle of 90 ⁇ 30 degrees from the horizontal plane, and the magnetic field directional adjustment device controls the movement of the capsule gastroscope in the stomach of the subject to obtain an intragastric image.
  • a structure of a capsule gastroscope magnetic control system comprising a frame 1 and a magnetic control device disposed on the frame 1; the magnetic control device comprises: a magnet 2, a position control device 3 and a magnetic field line
  • the direction adjusting device 4 is described in detail as follows:
  • the position control device 3 is disposed on the frame 1 so that the magnet 2 can move on a surface that is at an angle of 90 ⁇ 30 degrees from the horizontal plane.
  • the magnet 2 may be a permanent magnet 2 or an electromagnet 2, and the specific shape and size may be adjusted according to actual needs.
  • the position control device 3 includes a first moving portion 31, a second moving portion 32, and a third moving portion 33, specifically:
  • the first moving portion 31 allows the magnet 2 to move along the X axis parallel to the horizontal direction;
  • the first moving portion 31 includes: a first guide rail 311 disposed on the frame 1 and having a direction parallel to the horizontal direction; a first slider 312 slidable along the first rail 311; A driving module is coupled to the first slider 312 to drive and control the sliding of the first slider 312.
  • the second moving portion 32 includes: a second guide rail 321 disposed on the first slider 312, and the rail direction is perpendicular to the first rail 311; the second slider 322 is slidable along the second rail 321; and the second driving module The second slider 322 is connected to the second slider 322 to drive the second slider 322 to slide; wherein the magnetic line direction adjusting device 4 is disposed on the second slider 322.
  • the cooperation of the first moving portion 31 and the second moving portion 32 allows the magnet 2 provided on the magnetic line direction adjusting device 4 to be adjusted by the first moving portion 31 and the second moving portion 32 in the X-axis and the Y-axis.
  • the plane of the composition moves, and the plane is at an angle of 90 ⁇ 30 degrees with the horizontal plane.
  • the plane is at an angle of 90 degrees with the horizontal plane, and is relatively parallel with the vertically standing human body, so as to facilitate the magnet 2 to move to the desired position in the vertical standing state of the subject, and to be inspected.
  • the capsule gastroscope in the body is controlled.
  • a third moving portion 33 is further disposed between the first rail 311 and the frame 1, and the third moving portion 33 can make the magnet 2 be perpendicular to the plane formed by the X-axis and the Y-axis.
  • the axis moves. It can be understood that the third moving portion 33 can also move only in the horizontal direction perpendicular to the X axis.
  • the third moving portion 33 includes a third guide rail 331 disposed at two ends of the frame 1; the third slider 332 is connected to the second rail 321 through the support member 333, so that the second guide rail 321 can be along The third rail 331 slides.
  • the support members 333 are two, one end of which is fixed on the third slider 332 , the other end is connected to the second rail 321 , and the second rail 321 is perpendicular to the third rail 331 , where The third slider 332 can be moved on the third rail 331 by manual movement or mechanically.
  • the third moving portion 33 is arranged to move the magnet 2 on the magnetic control system in a direction perpendicular to the vertically standing human body, thereby facilitating the adjustment of the magnet 2
  • the relative linear distance between the human body and the human body to achieve the effect of regulating and controlling the capsule gastroscope.
  • the first driving module includes a first driving motor, and a first screw that is driven by the first driving motor to control the sliding of the first slider 312.
  • the second driving module includes: a second driving motor, and a second screw driven by the second driving motor to control the sliding of the second slider 322.
  • screw drive it is also possible to drive the slider motor by using other transmission methods such as crawler belts and transmission gears.
  • the position control device 3 realizes the three-axis position adjustment of the magnet 2 through the first moving portion 31, the second moving portion 32 and the third moving portion 33 that are connected to each other. It is only a preferred embodiment of the embodiment of the present invention, and the positional relationship between the two can be replaced with each other as long as the three-axis movement control of the magnet 2 can be realized.
  • the position control device 3 can also retain only the X-axis and the Y-axis position control, or adopt other structures that can achieve similar effects, such as a multi-axis robot arm, etc., which is not limited in the embodiment of the present invention.
  • the position control device 3 adopts a control method of three-axis movement control constituted by the first moving portion 31, the second moving portion 32, and the third moving portion 33, and the direction of the magnetic line of the magnet 2 is provided.
  • the adjusting device 4 performs position adjustment to realize movement control of the surface of the magnet 2 at an angle of 90 ⁇ 30 degrees with the horizontal plane, and cooperates with the standing subject to complete the vertically standing capsule gastroscope magnetic control action,
  • the control has the advantages of high flexibility and simple structure.
  • the structure of the magnetic line direction adjusting device 4 is shown, including the first rotating portion 41 and the second rotating portion 42, as detailed below:
  • the first rotating portion 41 is connected at one end to the position control device 3, so that the magnet 2 can be rotated in a first rotational axis perpendicular to the X-axis and parallel to the horizontal direction.
  • the first rotating portion 41 includes: a first supporting frame 411 connected to the position control device, and is disposed on the first supporting frame 411 to drive the second rotating portion 42 along the first rotating axis
  • the fourth drive module 422 is rotated.
  • first support frame 411 is not limited by the embodiment of the present invention, and may be any shape that supports between the position control device and the second rotating portion 42.
  • the third driving module 412 includes a third driving motor, and one end of the rotor of the third driving motor is coupled to the second rotating portion 42 to drive the second rotating portion 42 to rotate.
  • the first rotating portion 41 connected to the first slider 312 is parallel to the plane formed by the X-axis and the Y-axis, and is parallel to the horizontal plane.
  • the third driving motor is disposed in the middle of the first supporting frame 411 to rotate the second rotating portion 42 connected thereto around the rotating direction of the motor.
  • the design structure is simple and the volume of the transmission structure is reduced. With cost.
  • the first rotating portion 41 can realize the transmission control of the second rotating portion 42 by using the motor traction track and the gear set indirect transmission, in addition to the transmission mode directly driven by the motor. This example does not limit this.
  • the second rotating portion 42 has one end connected to the magnet 2 and the other end connected to the first rotating portion 41, so that the magnet 2 can be rotated in the second rotational axis perpendicular to the first rotational axis.
  • one end of the second rotating portion 42 is connected to the magnet 2 through a rotating shaft, and the other end is connected to the second supporting frame 421 of the first rotating portion 41.
  • the fourth driving module 422 is disposed on the second supporting frame 421 to drive the magnet 2 to rotate along the second rotating axis.
  • the shape of the second support frame 421 is not limited by the embodiment of the present invention, and may be any shape that supports between the magnet 2 and the first rotating portion 41.
  • the fourth driving module 422 disposed on the second supporting frame 421 uses a motor disposed on one side of the magnet 2 to drive the crawler belt on the side of the second supporting frame 421 and connecting the motor and the magnet 2. , to control the rotation of the magnet 2 along the second rotation axis, so that the magnet 2 passes along
  • the first rotational axis is perpendicular to the second rotational axis for rotation. Because the first rotational axis is parallel to the horizontal plane and perpendicular to the X axis, and the second rotational axis is perpendicular to the first rotational axis, such that the second rotational axis actually achieves axial rotation in a plane perpendicular to the horizontal plane. And the face on which the second rotating shaft is located is parallel with respect to the vertically standing subject.
  • the second rotating portion 42 can be driven by the motor driven track provided by the embodiment of the present invention to drive the magnet 2 to rotate, and can also be realized by direct motor transmission, gear set transmission, etc.
  • the transmission control of the two rotating portions 42 is not limited in this embodiment of the present invention.
  • a speed reducer is disposed between the first support frame 411 and the third drive module 412 and between the second support frame 421 and the fourth drive module 422.
  • the speed reducer can not only function as a bearing but also more precisely control the rotation of the first rotating portion 41 and the second rotating portion 42 by the magnetic control system.
  • the second rotating shaft forms a five-axis adjustment system together with the first rotating shaft and the three axes in the position control device 3 shown in FIG. 1, so that the subject can satisfy the capsule gastroscope without excessive adjustment of the body position.
  • the magnetic control system requires multi-angle adjustment control of the capsule gastroscope in the stomach of the subject.
  • the driving module in each position can set the data processing and position control module in the magnetic control system to adjust the position of the magnet 2 according to the manually input command, and even adjust the position of the magnet 2 automatically according to the program. Improve the control efficiency of the capsule gastroscope and greatly reduce the shooting time required for the capsule gastroscope.
  • the subject 5 swallows the capsule gastroscope and stands in front of the magnetic control system, and the magnetic control system adjusts the position and posture of the magnet 2 through the position control device 3 and the magnetic line direction adjusting device 4. Thereby, the capsule gastroscope in the body of the subject 5 is pulled to adjust the corresponding position and posture.
  • the magnet 2 of the magnetic control system can pass through the first moving portion
  • the left-right movement of the X-axis in the horizontal direction is realized, or the vertical movement of the Y-axis is performed vertically or slightly by the second moving portion, or the horizontal movement of the Z-axis is realized by the third moving portion.
  • the movement of the magnet 2 along the X, Y, and Z axes can be programmable by the servo motor to adjust the position of the magnet 2 of the magnetic control system.
  • the magnet 2 of the magnetic control system can also realize a rotational movement of the first rotational axis by the first rotational portion or a rotational movement of the second rotational axial direction by the second rotational portion.
  • the rotary motion of the first rotational axis and the second rotational axis can be programmable by the servo motor, and the rotational motion of the magnet 2 of the magnetic control system can change the magnetic field orientation of the magnet 2, and then drive the capsule gastroscope body accordingly.
  • the adjustment of the orientation changes the angle of the capsule gastroscope in the stomach, so that the capsule gastroscope camera device can realize shooting at any angle and position, and realize the omnidirectional examination of the stomach of the subject.
  • the subject ingests the capsule gastroscope with the camera and the illumination device into the stomach in advance
  • the subject is vertically stood in front of the capsule gastroscope system, and the examiner can be controlled by the position control device.
  • the magnet in the capsule gastroscope magnetic control system moves on a plane that is at an angle of 90 ⁇ 30 degrees with the horizontal plane, and uses a magnetic line direction adjusting device to control the movement of the capsule gastroscope in the stomach of the subject to obtain an intragastric image.
  • the magnetic control system By designing the magnetic control system into a vertical standing inspection control mode, the cavity of the stomach of the subject can be kept relatively intact, and the magnetic control system can more easily control the capsule gastroscope, thereby greatly improving the capsule gastroscope. Shooting efficiency and imaging results.

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Abstract

一种胶囊胃镜磁控制系统，包括机架(1)，以及设于机架(1)上的磁控制装置。磁控制装置包括磁体(2)、位置控制装置(3)及磁力线方向调节装置(4)。位置控制装置(3)设于机架(1)上，可使磁体(2)在与水平面呈90±30度夹角的面上移动；磁力线方向调节装置(4)设于位置控制装置(3)上，用于对磁体(2)的磁力线方向进行调节。

Description

一种胶囊胃镜磁控制系统 技术领域
本发明属于医疗器械领域，尤其涉及一种胶囊胃镜磁控制系统。
背景技术
如今现代人在社会压力及不健康的饮食生活下，消化系统常常容易出现问题，并给人带来相当大的困扰。所以，消化系统健康已成为现代人经常关注的热点之一。
当医生需要对消化系统中的胃部进行进一步检查来确认病症时，需要将一端设有摄像头及照明装置、另一端通过长管连接设备的胃镜从受检者口腔伸入胃内进行检测。如此手段会让受检者产生很大的痛苦，从而使受检者对胃镜检查产生恐惧感与抗拒感。
现在为了改进上述技术，出现了一种使用胶囊胃镜作为胃部探测装置的胃部检查手段，只需要让人体平躺在平台上，通过设置在人体上方的磁控制系统，对受检者预先吞入胃内、带摄像头及照明装置的胶囊胃镜进行位置调节控制，从而达到改变观测角度的目的，使得受检者的痛苦大为减少。
但是，当人体躺卧时，胃部因重力的作用会产生形变，使胃腔空间大为减小，从而不仅使磁控制系统对胶囊胃镜的控制效果不好，空间变小还影响了胶囊胃镜的拍摄效果，需要通过磁控制系统对胶囊胃镜进行多次移动控制才能将胃部环境拍摄完整，使得拍摄时间较长，影像呈现效果较差。
发明内容
本发明实施例提供一种胶囊胃镜磁控制系统，旨在解决现有的躺卧式胶囊胃镜磁控制系统拍摄时间较长，影像呈现效果较差的问题。
本发明实施例是这样实现的，一种胶囊胃镜磁控制系统，包括：
机架；以及
设于机架上的磁控制装置，所述磁控制装置包括：
磁体；
位置控制装置，设于所述机架上，可使所述磁体在与水平面呈90±30度夹角的面上移动；
磁力线方向调节装置，设于所述位置控制装置上，用于对所述磁体的磁力线方向进行调节。
本发明实施例中，受检者在预先将带摄像头及照明装置的胶囊胃镜吞入胃内后，让其竖直站立在胶囊胃镜系统前方，检测者可通过位置控制装置控制胶囊胃镜磁控制系统中的磁体在与水平面呈90±30度夹角的面上移动，并利用磁力线方向调节装置控制受检者胃内的胶囊胃镜移动，以获取胃内影像。通过将磁控制系统设计成竖直站立式的检查控制方式，可以让受检者胃部的腔体保持较为完整的状态，使磁控制系统更容易对胶囊胃镜进行控制，大大提高了胶囊胃镜的拍摄效率及成像效果。
附图说明
图1是本发明实施例提供的胶囊胃镜磁控制系统与受检者的位置关系图；
图2是本发明实施例提供的一种胶囊胃镜磁控制系统的结构图；
图3是本发明实施例提供的磁力线方向调节装置的结构图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
在本发明实施例中，受检者在预先将带摄像头及照明装置的胶囊胃镜吞入胃内后，让其竖直站立在胶囊胃镜系统前方，检测者可通过位置控制装置控制胶囊胃镜磁控制系统中的磁体在与水平面呈90±30度夹角的面上移动，并利用磁力线方向调节装置控制受检者胃内的胶囊胃镜移动，以获取胃内影像。通过将磁控制系统设计成竖直站立式的检查控制方式，可以让受检者胃部的腔体保持较为完整的状态，使磁控制系统更容易对胶囊胃镜进行控制，大大提高了胶囊胃镜的拍摄效率及成像效果。
参见图1，图中示出了一种胶囊胃镜磁控制系统的结构，包括机架1，以及设于机架1上的磁控制装置；磁控制装置包括：磁体2、位置控制装置3及磁力线方向调节装置4，详述如下：
位置控制装置3，设于机架1上，可使磁体2在与水平面呈90±30度夹角的面上移动。
在本发明实施例中，磁体2可以是永磁体2，也可以是电磁体2，具体的形状大小可以根据实际需要的效果进行调整。
作为本发明一个实施例，位置控制装置3包括第一移动部31、第二移动部32及第三移动部33，具体为：
第一移动部31，可使磁体2沿与水平方向平行的X轴移动；
在本发明实施例中，第一移动部31包括：第一导轨311，设于机架1上，且导轨方向与水平方向平行；第一滑块312，可沿第一导轨311滑动；以及第一驱动模块，与第一滑块312连接，驱动控制第一滑块312滑动。
第二移动部32包括：第二导轨321，设于第一滑块312上，且导轨方向与第一导轨311垂直；第二滑块322，可沿第二导轨321滑动；以及第二驱动模块，与第二滑块322连接，驱动控制第二滑块322滑动；其中，所述磁力线方向调节装置4设于所述第二滑块322上。
第一移动部31与第二移动部32的配合，可使设置在磁力线方向调节装置4上的磁体2，通过第一移动部31及第二移动部32的调节，在X轴与Y轴所构成的平面上移动，且该平面与水平面呈90±30度夹角。
作为本发明一个实施例，该平面与水平面呈90度夹角，并与竖直站立的人体相对平行，以方便磁体2在受检者竖直站立状态下移至所需的位置，对受检者体内的胶囊胃镜进行控制。
在本发明实施例中，第一导轨311与机架1之间，还设有第三移动部33，第三移动部33可使磁体2沿与X轴及Y轴所构成的平面垂直的Z轴移动。可以理解的是，第三移动部33还可以只沿与所述X轴垂直的水平方向移动。
在本发明实施例中，第三移动部33包括第三导轨331，设于机架1两端；第三滑块332，通过支持件333与第二导轨321连接，使第二导轨321可沿第三导轨331滑动。具体的，参见图1，上述支持件333为两个，其一端固定在第三滑块332上，另一端与第二导轨321连接，并使第二导轨321垂直于第三导轨331，此处的第三滑块332，可以采用人工移动的方式，或者采用机械驱动的方式在第三导轨331上进行移动。设置第三移动部33，可使磁控制系统上的磁体2沿相对竖直站立的人体垂直的方向移动，便于调节磁体2 与人体之间的相对直线距离，以达到对胶囊胃镜起调节控制效果的作用。
作为本发明一个实施例，第一驱动模块包括第一驱动电机，以及受第一驱动电机驱动，控制第一滑块312滑动的第一丝杆。第二驱动模块包括：第二驱动电机，以及受第二驱动电机驱动，控制第二滑块322滑动的第二丝杆。当然，除了利用丝杆驱动，还可以采用履带、传动齿轮等其他传动方式对滑块进行电机驱动。
同时，可以理解的是在本发明实施例中，该位置控制装置3通过相互连接的第一移动部31、第二移动部32及第三移动部33来实现磁体2的三轴向位置调节，仅为本发明实施例的优选方案，且其两两之间的位置关系可以相互替换，只要实现可对磁体2进行三轴向移动控制即可。除此之外位置控制装置3还可以只保留X、Y两轴位置控制，或者采用可达到类似效果的其他结构，例如多轴机械臂等，本发明实施例对此不作限定。
在本发明实施例中，位置控制装置3采用了由第一移动部31、第二移动部32、第三移动部33所构成的三轴移动控制的控制方式，对设有磁体2的磁力线方向调节装置4进行位置调节，实现对磁体2在与水平面呈90±30度夹角的面上的移动控制，并可与站立的受检者配合完成竖直站立式的胶囊胃镜磁控制动作，具有控制灵活度高、结构简单的有益效果。
参见图2，图中示出了磁力线方向调节装置4的结构，包括第一转动部41及第二转动部42，详述如下：
第一转动部41，一端与位置控制装置3连接，可使磁体2沿垂直于X轴，且与水平方向平行的第一转动轴向进行转动。
在本发明实施例中，第一转动部41包括：与位置控制装置连接的第一支撑架411，以及设于第一支撑架411上，驱动第二转动部42沿第一转动轴向 转动的第四驱动模块422。
可以理解的是，第一支撑架411的形状并不受本发明实施例的限定，可以为在位置控制装置及第二转动部42之间起支撑作用的任意形状。
在本发明实施例中，第三驱动模块412包括第三驱动电机，第三驱动电机的转子一端与第二转动部42连接，以驱动第二转动部42转动。参见图1，当第一导轨311所在的面与水平面垂直时，与第一滑块312连接的第一转动部41则绕垂直于X轴与所述Y轴所构成的平面，并与水平面平行。参见图2，具体的，第三驱动电机置于第一支撑架411中部，以使与其连接的第二转动部42绕电机的转动方向转动，该设计结构简单，且减小了传动结构的体积与成本。需要说明的是，在实践当中，第一转动部41除了采用电机直接驱动的传动方式，还可以采用电机牵引履带、齿轮组间接传动等方式实现对第二转动部42的传动控制，本发明实施例对此不作限定。
第二转动部42，一端与磁体2连接，另一端与第一转动部41连接，可使磁体2沿与第一转动轴向垂直的第二转动轴向进行转动。
在本发明实施例中，第二转动部42一端通过转轴连接所述磁体2，另一端连接所述第一转动部41的第二支撑架421。
设于第二支撑架421上，驱动磁体2沿所述第二转动轴向转动的第四驱动模块422。
可以理解的是，第二支撑架421的形状并不受本发明实施例的限定，可以为在磁体2及第一转动部41之间起支撑作用的任意形状。
在本发明实施例中，设于第二支撑架421上的第四驱动模块422，采用设在磁体2一侧的电机，去驱动位于第二支撑架421一侧、连接电机及磁体2的履带，来对磁体2沿第二转动轴向进行转动控制，以使磁体2通过沿与 第一转动轴向垂直的第二转动轴向进行转动。因为第一转动轴向平行于水平面且与X轴垂直，而第二转动轴向又垂直于第一转动轴向，使得第二转动轴向实际在一垂直于水平面上的面内实现轴向转动，且该第二转动轴所在的面相对于竖直站立的受检者平行。
需要说明的是，在实践当中，第二转动部42除了采用本发明实施例中提供的电机驱动履带以带动磁体2转动的传动方式，还可以采用电机直接传动、齿轮组传动等方式实现对第二转动部42的传动控制，本发明实施例对此不作限定。
作为本发明的一个实施例，第一支撑架411与第三驱动模块412之间，以及第二支撑架421与第四驱动模块422之间，均设有减速器。减速器不仅可以起到轴承的作用，还能使磁控制系统对第一转动部41及第二转动部42的转动动作进行更加精确地控制。
实际上，该第二转动轴与第一转动轴、图1示出的位置控制装置3中的三轴共同形成五轴调节系统，使受检者无需过多的调节身体位置即能满足胶囊胃镜磁控制系统对受检者胃内的胶囊胃镜进行多角度调节控制的需要。同时，各个位置中的驱动模块可以通过在该磁控制系统中设立数据处理及位置控制模块，以根据手动输入的指令来进行磁体2位置的调节、甚至根据程序自动对磁体2位置进行调节的功能，提高胶囊胃镜的控制效率，大大减少胶囊胃镜所需的拍摄时间。
参见图3，在本发明实施例中，受检者5吞服胶囊胃镜后站立在磁控制系统的前方，磁控制系统通过位置控制装置3及磁力线方向调节装置4对磁体2位置及姿态进行调节，从而牵引受检者5体内的胶囊胃镜作相应位置及姿态的调整。参考图1中的坐标轴，磁控制系统的磁体2可通过第一移动部 实现X轴水平方向的左右运动，或者通过第二移动部实现Y轴垂直或略带角度的上下运动，或者通过第三移动部实现Z轴水平前后运动。磁体2沿X、Y、Z轴的运动均可通过伺服电机可编程控制，以对磁控制系统的磁体2位置进行调整。除此之外，磁控制系统的磁体2还可以通过第一转动部实现第一转动轴向的旋转运动，或者通过第二转动部实现第二转动轴向的旋转运动。第一转动轴向及第二转动轴向的旋转运动均可通过伺服电机可编程控制，磁控制系统的磁体2的旋转运动可对磁体2的磁场方位进行改变，并进而带动胶囊胃镜本体做相应方位的调整，改变胶囊胃镜在胃内的拍摄角度，这样胶囊胃镜摄像头装置可实现任意角度与位置的拍摄，实现受检者5胃部全方位检查。
综上可知，在本发明实施例中，受检者在预先将带摄像头及照明装置的胶囊胃镜吞入胃内后，让其竖直站立在胶囊胃镜系统前方，检测者可通过位置控制装置控制胶囊胃镜磁控制系统中的磁体在与水平面呈90±30度夹角的面上移动，并利用磁力线方向调节装置控制受检者胃内的胶囊胃镜移动，以获取胃内影像。通过将磁控制系统设计成竖直站立式的检查控制方式，可以让受检者胃部的腔体保持较为完整的状态，使磁控制系统更容易对胶囊胃镜进行控制，大大提高了胶囊胃镜的拍摄效率及成像效果。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (15)

  1. 一种胶囊胃镜磁控制系统，其特征在于，包括：
    机架；以及
    设于所述机架上的磁控制装置，所述磁控制装置包括：
    磁体；
    位置控制装置，设于所述机架上，可使所述磁体在与水平面呈90±30度夹角的面上移动；以及
    磁力线方向调节装置，设于所述位置控制装置上，用于对所述磁体的磁力线方向进行调节。
  2. 如权利要求1所述的胶囊胃镜磁控制系统，其特征在于，所述位置控制装置包括：
    第一移动部，可使所述磁体沿与水平方向平行的X轴移动；以及
    第二移动部，与所述第一移动部滑动连接，可使所述磁体沿与所述X轴垂直的Y轴移动；
    所述X轴与所述Y轴所构成的平面与水平面呈90±30度夹角。
  3. 如权利要求2所述的胶囊胃镜磁控制系统，其特征在于，所述X轴与所述Y轴所构成的平面与水平面呈90度夹角。
  4. 如权利要求2所述的胶囊胃镜磁控制系统，其特征在于，所述第一移动部包括：
    第一导轨，设于所述机架上，且导轨设置方向与水平方向平行；
    第一滑块，可沿所述第一导轨滑动；以及
    第一驱动模块，与所述第一滑块连接，驱动控制所述第一滑块滑动。
  5. 如权利要求4所述的胶囊胃镜磁控制系统，其特征在于，所述第二移动部包括：
    第二导轨，设于所述第一滑块上，且导轨方向与所述第一导轨垂直；
    第二滑块，可沿所述第二导轨滑动；以及
    第二驱动模块，与所述第二滑块连接，驱动控制所述第二滑块滑动；
    其中，所述磁力线方向调节装置设于所述第二滑块上。
  6. 如权利要求5所述的胶囊胃镜磁控制系统，其特征在于，所述第一驱动模块包括：
    第一驱动电机；以及
    受第一驱动电机驱动，控制所述第一滑块滑动的第一丝杆。
  7. 如权利要求5所述的胶囊胃镜磁控制系统，其特征在于，所述第二驱动模块包括：
    第二驱动电机；以及
    受第二驱动电机驱动，控制所述第二滑块滑动的第二丝杆。
  8. 如权利要求2所述的胶囊胃镜磁控制系统，其特征在于，所述位置控制装置还包括：
    第三移动部，可使所述磁体沿与所述X轴与所述Y轴所构成的平面垂直的Z轴，或沿与所述X轴垂直的水平方向移动。
  9. 如权利要求8述的胶囊胃镜磁控制系统，其特征在于，所述第三移动部包括：
    第三导轨，设于所述机架两端；以及
    第三滑块，通过支持件与所述第二导轨连接，使所述第二导轨可沿所述第三导轨滑动。
  10. 如权利要求9所述的胶囊胃镜磁控制系统，其特征在于，所述支持件的一端固定在所述第三滑块上，另一端与所述第二导轨连接，并使所述第二导轨垂直于所述第三导轨。
  11. 如权利要求1所述的胶囊胃镜磁控制系统，其特征在于，所述磁力线方向调节装置包括：
    第一转动部，一端与所述位置控制装置连接，可使所述磁体沿垂直于所述X轴方向，且与水平方向平行的第一转动轴向进行转动；以及
    第二转动部，一端与所述磁体连接，另一端与所述第一转动部连接，可 使所述磁体沿与所述第一转动轴向垂直的第二转动轴向进行转动。
  12. 如权利要求11所述的胶囊胃镜磁控制系统，其特征在于，所述第一转动部包括：
    与所述位置控制装置连接的第一支撑架；以及
    设于所述第一支撑架上，驱动所述第二转动部沿所述第一转动轴向转动的第三驱动模块。
  13. 如权利要求12所述的胶囊胃镜磁控制系统，其特征在于，所述第三驱动模块包括：
    第三驱动电机，所述第三驱动电机的转子一端与所述第二转动部连接，以驱动所述第二转动部转动。
  14. 如权利要求11所述的胶囊胃镜磁控制系统，其特征在于，所述第二转动部包括：
    一端通过转轴连接所述磁体，另一端连接所述第一转动部的第二支撑架；以及
    设于所述第二支撑架上，驱动所述磁体沿所述第二转动轴向转动的第四驱动模块。
  15. 如权利要求14所述的胶囊胃镜磁控制系统，其特征在于，所述第一支撑架与所述第三驱动模块之间，以及所述第二支撑架与所述第四驱动模块之间，均设有减速器。
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