WO2021204182A1 - 胶囊内窥镜控制方法及系统 - Google Patents
胶囊内窥镜控制方法及系统 Download PDFInfo
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Abstract
Description
Claims (19)
- 一种胶囊内窥镜的控制系统,包括:胶囊内窥镜,所述胶囊内窥镜包括图像采集模块,第一磁体,电池模块,无线模块和感应模块;控制单元,用于接收所述胶囊内窥镜传输的数据计算临界悬浮磁场值,并根据所述临界悬浮磁场值得到控制信号;移动单元和第二磁体,所述移动单元根据所述控制信号控制所述第二磁体在水平和/或竖直方向运动,其中,通过移动所述第二磁体控制所述第一磁体运动,所述胶囊内窥镜沿胃壁在水平和/或竖直方向运动时处于准悬浮状态,所述胶囊内窥镜传输的数据包括浮力,重力,以及磁力。
- 根据权利要求1所述的控制系统,其中,所述感应模块包括磁传感器和加速度传感器。
- 根据权利要求2所述的控制系统,其中,所述磁传感器远离所述第一磁体,所述加速度传感器为重力传感器。
- 根据权利要求2所述的控制系统,其中,所述磁传感器和所述加速度传感器的感应方向沿所述胶囊内窥镜的长轴。
- 根据权利要求1所述的控制系统,其中,所述第一磁体的磁化方向沿所述胶囊内窥镜的长轴。
- 根据权利要求1所述的控制系统,其中,所述第二磁体的磁化方向与竖直方向存在一个夹角,所述夹角的大小为0~20°。
- 根据权利要求1所述的控制系统,其中,所述移动单元包括三维运动的机器人,直角机器人或机械臂。
- 根据权利要求1所述的控制系统,其中,所述第二磁体包括永磁体或电磁体。
- 根据权利要求1所述的控制系统,其中,还包括:图像单元,用于接收所述胶囊内窥镜拍摄的多个图像,并进行目标区域的三维空间结构的建立。
- 根据权利要求9所述的控制系统,其中,所述图像单元根据所述多个图像得到目标区域的全景图像,且所述图像单元根据所述全景图像得到所述目标区域的三维空间结构。
- 根据权利要求9所述的控制系统,其中,还包括:定位单元,用于记录所述胶囊内窥镜的位置信息和/或移动轨迹;所述图像单元根据所述定位单元的位置信息和/或移动轨迹得到所述目标区域的三维空间结构。
- 根据权利要求1所述的控制系统,其中,控制所述第二磁体在水平和/或竖直方向运动的方式包括由移动单元控制的手动控制和由控制单元控制的自动控制。
- 一种胶囊内窥镜的控制方法,所述胶囊内窥镜包括内部的第一磁体和外部的第二磁体,所述控制方法包括:测量胶囊内窥镜所处环境的磁场值;根据所述磁场值获取所述胶囊内窥镜的临界悬浮磁场值;根据所述临界悬浮磁场值调整所述胶囊内窥镜所受的牵引力;以及控制所述胶囊内窥镜在水平和/或竖直方向运动,其中,通过移动所述第二磁体控制所述第一磁体运动,所述胶囊内窥镜沿胃壁在水平和/或竖直方向运动时处于准悬浮状态。
- 根据权利要求13所述的控制方法,其中,所述磁场值通过磁传感器测量。
- 根据权利要求13所述的控制方法,其中,所述临界悬浮磁场值根据所述胶囊内窥镜的重量,倾斜角度和浮力得到。
- 根据权利要求13所述的控制方法,其中,根据所述临界悬浮磁场值调整所述胶囊内窥镜所受的牵引力的步骤包括:根据所述临界悬浮磁场值获得修正后的磁场值;根据所述修正后的磁场值调整所述第二磁体的高度,从而调整所述胶囊内窥镜所受的牵引力。
- 根据权利要求15所述的控制方法,其中,当所述胶囊内窥镜的倾斜角度大于零时,判断所述胶囊内窥镜遇到障碍物。
- 根据权利要求17所述的控制方法,其中,当所述胶囊内窥镜遇到障碍物时,通过所述第二磁体在竖直方向上磁场值的梯度变化控制所述胶囊内窥镜在竖直方向上移动,并通过所述第二磁体在水平方向上移动控制所述胶囊内窥镜在水平方向上移动,进行越障。
- 根据权利要求13所述的控制方法,其中,控制所述胶囊内窥镜在水平和/或竖直方向运动的方式包括手动控制和自动控制。
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US17/917,241 US11826015B2 (en) | 2020-04-08 | 2021-04-08 | System and method for controlling capsule endoscope |
JP2023504690A JP2023524320A (ja) | 2020-04-08 | 2021-04-08 | カプセル内視鏡の制御方法及びシステム |
KR1020227039148A KR20220165772A (ko) | 2020-04-08 | 2021-04-08 | 캡슐 내시경 제어 방법 및 시스템 |
EP21785682.2A EP4133990A4 (en) | 2020-04-08 | 2021-04-08 | METHOD AND SYSTEM FOR CONTROLLING A CAPSULE ENDOSCOPE |
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CN202010268293.7A CN111184497B (zh) | 2020-04-08 | 2020-04-08 | 胶囊内窥镜控制方法及系统 |
CN202010268293.7 | 2020-04-08 |
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EP (1) | EP4133990A4 (zh) |
JP (1) | JP2023524320A (zh) |
KR (1) | KR20220165772A (zh) |
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CN111184497B (zh) * | 2020-04-08 | 2020-07-17 | 上海安翰医疗技术有限公司 | 胶囊内窥镜控制方法及系统 |
CN111956170B (zh) * | 2020-07-31 | 2023-11-10 | 上海安翰医疗技术有限公司 | 胶囊内窥镜的运动控制系统及运动控制方法 |
CN117562486A (zh) * | 2022-08-08 | 2024-02-20 | 安翰科技(武汉)股份有限公司 | 磁控胶囊系统的控制方法和装置 |
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EP4133990A1 (en) | 2023-02-15 |
EP4133990A4 (en) | 2024-03-27 |
KR20220165772A (ko) | 2022-12-15 |
JP2023524320A (ja) | 2023-06-09 |
US20230225583A1 (en) | 2023-07-20 |
US11826015B2 (en) | 2023-11-28 |
CN111184497B (zh) | 2020-07-17 |
CN111184497A (zh) | 2020-05-22 |
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