WO2021259320A1 - 悬挂装置和胶囊内镜磁控系统 - Google Patents

悬挂装置和胶囊内镜磁控系统 Download PDF

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Publication number
WO2021259320A1
WO2021259320A1 PCT/CN2021/101803 CN2021101803W WO2021259320A1 WO 2021259320 A1 WO2021259320 A1 WO 2021259320A1 CN 2021101803 W CN2021101803 W CN 2021101803W WO 2021259320 A1 WO2021259320 A1 WO 2021259320A1
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WO
WIPO (PCT)
Prior art keywords
suspension
suspension device
piece
adsorption
base
Prior art date
Application number
PCT/CN2021/101803
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English (en)
French (fr)
Inventor
张少邦
申跃跃
Original Assignee
上海安翰医疗技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 上海安翰医疗技术有限公司 filed Critical 上海安翰医疗技术有限公司
Priority to US18/012,907 priority Critical patent/US20230255458A1/en
Publication of WO2021259320A1 publication Critical patent/WO2021259320A1/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
    • A61B1/04—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
    • A61B1/00147—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
    • A61B1/045—Control thereof

Definitions

  • This application relates to the technical field of medical devices, and in particular to a suspension device and a capsule endoscope magnetic control system.
  • an external drive can be used for the control of the capsule endoscope.
  • the external drive is a drive method that provides power for the movement of the capsule in the body through an external device. That is, the external magnetic control technology can be used to realize the positioning and guidance of the capsule endoscope in the body. .
  • Existing magnetic control capsule endoscopy control methods include placing a magnetic control device outside the body, which can provide a controllable variable magnetic field, and then drive the magnetic control capsule endoscope to move, thereby realizing the magnetic control capsule endoscopy. Changes in vision.
  • most of the magnetic control systems on the market are fixedly installed in a certain area of the consulting room, and the connection between the magnetic control device and the main body of the magnetic control system is generally a rigid connection.
  • the existing mobile magnetron system still has more or less problems.
  • one of the problems that the existing mobile magnetron system needs to overcome is that the magnetron device in the mobile magnetron system needs to overcome the tilt problem caused by the level of the ground in different environments.
  • the existing mobile magnetron system may be inclined or not perpendicular to the local horizontal plane due to the influence of the environment or other factors during the process of changing the use environment.
  • the stability of the connection between the magnetron device and the main body of the mobile magnetron system affects the operation or result of the inspection.
  • the purpose of this application is to provide a suspension device and a capsule endoscope magnetic control system, which has a simple structure, is convenient to operate, can adjust the attitude of the suspension, so that the suspension can adapt to changes in different environments, and can overcome the above problems or at least Partially solve the above technical problems.
  • the present application provides a suspension device, including:
  • the base is provided with a matching part
  • Suspension member at least part of the suspension member is arranged in the base;
  • a suction component, the suction component is arranged above the intermediate piece;
  • the intermediate piece when the suction member has no suction force, the intermediate piece is pressed against the upper end of the suspension piece so that at least part of the suspension piece and the mating part abut against each other, and the suspension piece is locked
  • the intermediate member can be driven to move vertically, so that at least part of the suspension member can be separated from the matching portion, and the attitude of the suspension member is suitable for adjustment.
  • the suspension device includes at least one elastic component, and the force of the at least one elastic component acting on the intermediate component causes the suspension component and the matching portion to abut against each other;
  • the elastic force of the elastic member is suitable for driving the intermediate member to be pressed against the upper end of the suspension member; when the adsorption member has the adsorption force, it can overcome the The elastic force of the elastic component drives the middle piece to move vertically.
  • the suspension device includes a guide mechanism, the guide mechanism includes a guide rod, and the guide rod is sheathed with the elastic member;
  • the intermediate piece is adapted to move along the axial direction of the guide mechanism.
  • the elastic components include springs, compression springs, wire springs, torsion springs, leaf springs, shrapnels and other various elastic members capable of providing elastic force.
  • the two elastic members are distributed on both sides of the adsorption member; and the two elastic members are respectively sleeved on the two guide rods.
  • the suspension device includes a guide mechanism, the guide mechanism includes a guide rod and a sliding seat, the sliding seat is arranged on the intermediate piece, and the sliding seat is installed on the guide rod Above, the sliding seat is slidably connected with the guide rod;
  • the intermediate piece and the sliding seat are adapted to move linearly along the axial direction of the guide rod.
  • the sliding seat includes a linear bearing.
  • the suspension device includes a fixing member connected with the base to form an accommodating cavity, and the suction member, the intermediate member and at least part of the suspension member are arranged in the The accommodating cavity is inside, and the adsorption component is fixedly installed on the fixing member.
  • the base and the fixing part are connected by screws.
  • the upper end of the guide rod is connected to the fixing part, and the lower end of the guide rod passes through the middle part and is connected to the base.
  • the suspension includes a club and a ball head, one end of the club is provided with the ball head, and the other end of the club extends outward to the outside of the base;
  • the ball head is at least partially arranged in the base, and the middle piece is pressed on the upper end of the ball head.
  • the mating part of the base is a ball groove, and the ball head is at least partially located in the ball groove;
  • the mating portion of the base is a stepped groove or a stepped hole, and the upper part of the stepped groove or the stepped hole may be adapted to the outer surface of the lower part of the ball head.
  • the suspension and the base can form a ball hinge structure, that is, the ball hinge structure includes a suspension and a base, where the suspension includes a ball head and a cue rod (also called a ball hinge rod), and the base may also be called a hinge base Or a ball hinge seat, the base is provided with a ball groove matched with the ball head, and the ball head in the suspension member and the ball groove of the base can form a restraint pair.
  • the ball hinge structure includes a suspension and a base
  • the suspension includes a ball head and a cue rod (also called a ball hinge rod)
  • the base may also be called a hinge base Or a ball hinge seat
  • the base is provided with a ball groove matched with the ball head, and the ball head in the suspension member and the ball groove of the base can form a restraint pair.
  • the adsorption component includes an electromagnetic chuck, the electromagnetic chuck has an adsorption force when it is energized, and the electromagnetic chuck has no adsorption force when the power is off.
  • the upper end of the electromagnetic chuck is connected to the fixing member; the lower end of the electromagnetic chuck is close to the upper end surface of the intermediate member.
  • the upper end of the electromagnetic chuck and the fixing part are connected by screws.
  • the electromagnetic chuck is connected to an external power supply or an energized button through an energized cable.
  • the suspension device further includes an elastic component, a guide mechanism and a fixing member, and the guide mechanism includes a guide rod and a sliding seat;
  • the base is connected to the fixing member and forms a containing cavity, the intermediate member, the adsorption member, the elastic member, the guide mechanism and part of the suspension are all located in the containing cavity, and the rest are
  • the suspension member is adapted to extend outside the receiving cavity through the matching portion;
  • the suction component is arranged above the intermediate piece, the intermediate piece is pressed on the upper end of the suspension piece, the intermediate piece is provided with the sliding seat, and the sliding seat is installed on the guide rod ,
  • the sliding seat is slidably connected with the guide rod, and the elastic member is sleeved on the guide rod.
  • the upper end of the suction member is fixedly connected to the fixing member
  • the upper end of the guide rod is connected with the fixing part, and the lower end of the guide rod passes through the middle part and is connected with the base;
  • the elastic member is located above the middle piece or below the middle piece.
  • the present application provides a capsule endoscope magnetic control system, including the above-mentioned suspension device.
  • the capsule endoscope magnetic control system can be used to control the capsule endoscope.
  • the capsule endoscope magnetic control system is a mobile capsule endoscope magnetic control system.
  • the capsule endoscope magnetic control system includes a magnetic control device and a suspension device, the magnetic control device can provide a controllable variable magnetic field, and the magnetic control device can be connected to a suspension in the suspension device.
  • the suspension device includes a base, a suspension member, an intermediate member, and an adsorption member.
  • the suspension member can be used to connect with the suspension object, and at least a part of the suspension member can be arranged in the matching part of the base, and at least the suspension member
  • the part can abut against the mating part or be staggered to disengage from the abutment, that is, at least part of the suspension part can form a restraint pair with the mating part; the middle part is arranged above the suspension part, and the suction part is arranged above the middle part.
  • the arrangement of the middle part and the suction part can realize the attitude adjustment and the attitude lock of the suspension part, that is, the suction part can be used to control the attitude adjustment or the attitude lock of the suspension part.
  • the suction component has no suction force
  • the upper end of the suspension can be pressed by the middle piece so that at least part of the suspension and the mating part abut against each other.
  • the suspension is locked, that is, in a locked state;
  • the vertical movement of the middle piece can be driven by the suction force, and then at least part of the suspension piece can be separated from the mating part.
  • the attitude of the suspension piece can be adjusted, and the suspension can be adjusted.
  • the suspended objects connected by the pieces adjust their posture according to the direction of the center of gravity, so that the suspended objects can adapt to changes in different environments.
  • the suspension device has a simple and compact structure and is easy to operate. It can adjust the attitude of the suspended object. During the inspection process, the stability of the connection between the magnetron device and the main body of the mobile magnetron system can be ensured, and the operation or results of the inspection can be provided Assure.
  • the magnetic control system for the capsule endoscope of the present application including the suspension device, has all the characteristics and advantages of the suspension device described above, and will not be repeated here.
  • Figure 1 is a schematic structural diagram of a suspension device provided by an embodiment of the application.
  • FIG. 2 is a schematic cross-sectional view of a suspension device provided by an embodiment of the application.
  • Fig. 3 is an exploded schematic diagram of the suspension device provided by an embodiment of the application.
  • Gap-b adjust angle-a.
  • the existing magnetic control system such as the capsule endoscopic magnetic control system
  • the patent publication number CN 105615817A discloses a medical capsule endoscopic magnetron navigation device.
  • the device has a movable base and is a movable magnetron system.
  • the magnetron device can include a hybrid magnetic field generator.
  • the main body of the magnetron system can include a movable base, and the magnetron device and the main body of the magnetron system are rigidly connected; in this way, when the device moves or changes different scenes, if the ground is uneven , It will cause the tilt of the magnetron device, which will affect the stability of the connection or the effect of the inspection.
  • the patent publication number CN 103222842A discloses a device and method for controlling the movement of a capsule endoscope in the human digestive tract, which includes a base, a magnetron device and a magnetic ball. The position of the magnetron device can be changed through the base.
  • the magnetron device uses a magnetic ball whose posture can be adjusted to provide an external magnetic field for the magnetron capsule endoscope. If there is a universal wheel under the base, it can be a movable magnetron system. However, the magnetron device on the movable magnetron system also needs to overcome the inclination problem caused by the uneven ground in different environments; at the same time; , It is also necessary to ensure the stability of the connection between the magnetron device and the main body (base) of the mobile magnetron system during the inspection.
  • the technical solutions of the embodiments of the present application provide a suspension device and a capsule endoscope magnetic control system, by setting the suspension device in the capsule endoscope magnetic control system , And connect the magnetic control device with the suspension in the suspension device, so that the magnetic control device can adjust the posture according to the gravity so that it is always perpendicular to the local horizontal plane, and after the adjustment is completed, it can maintain good rigidity between the devices Connection; the suspension device has a simple structure and convenient operation.
  • the embodiment of the present application provides a capsule endoscope magnetic control system (not shown).
  • the capsule endoscope magnetic control system can be used to control the capsule endoscope and includes at least the capsule endoscope, a magnetic control device, and a suspension device.
  • the magnetic control device can provide a controllable variable magnetic field, which can drive the movement of the magnetic control capsule endoscope (such as a capsule gastroscope) in the human body, that is, the magnetic control device installed outside the body can be precisely controlled to enter the human body.
  • the movement, posture and direction of the capsule endoscope; the suspension device can be connected with the magnetron device to adjust the posture of the magnetron device according to gravity so that the magnetron device is always perpendicular to the local horizontal plane.
  • the above-mentioned capsule endoscope can also be called a capsule endoscope, and a magnet, an optical imaging system, etc. are integrated inside, which can be used for imaging examinations of the digestive tract etc. in the human body.
  • the capsule endoscope magnetic control system may be a mobile capsule endoscope magnetic control system.
  • the magnetic control device can be connected with the suspension in the suspension device, that is, the magnetic control device can be suspended below the suspension, and the attitude of the magnetic control device below can be adjusted, so that the magnetic control device can be adjusted in different ground environments.
  • the control device can still be perpendicular to the local horizontal plane.
  • the magnetic control system of the capsule endoscope provided by the present application can overcome the inclination problem of the existing magnetic control device due to the uneven ground in different environments through the setting of the suspension device; at the same time, it can also ensure that it is in the inspection process. , The stability of the connection between the magnetic control device and the mobile capsule endoscope magnetic control system.
  • the ground refers to the ground environment (for example, it can include slopes, undulations, or arcs, etc.), and the local horizontal plane (horizon) refers to the vertical local vertical line (which can be plumb). Line, geographic perpendicular or mass gravitational perpendicular).
  • the illustrated composition or structure of the magnetic control system of the capsule endoscope does not constitute a specific limitation on the magnetic control system of the capsule endoscope.
  • the capsule endoscope magnetic control system may include more or fewer devices, or combine certain components, or disassemble certain components, or arrange different components.
  • the capsule endoscope magnetic control system includes a capsule endoscope, a magnetic control device and a suspension device, and may also include other known components such as universal wheels. This application does not impose special restrictions on other devices or components and their connection relationship.
  • the core of the magnetic control system of the capsule endoscope is to include the suspension device of the present application.
  • the specific structure of the capsule endoscope and the magnetic control device is not limited.
  • the content that is not described in detail in the description of the capsule endoscope magnetic control system is a common structure or connection method that can be easily thought of by those skilled in the art. You can refer to the prior art or be adjusted by those skilled in the art according to the actual situation. Therefore, its detailed description can be omitted.
  • the suspension device is not limited to being applied to the capsule endoscope magnetron system, and can also be applied to equipment other than the capsule endoscope magnetron system. That is to say, the suspension in the suspension device can be connected with the magnetron device, and can also be connected with other suspensions to adjust the posture of the other suspensions.
  • the embodiments of the present application mainly take the suspension object as a magnetic control device as an example to describe the suspension device in detail.
  • the principles of the present application can be implemented in any suitably arranged suspension.
  • descriptions of well-known functions or effects may be omitted.
  • a suspension device including:
  • the base 100 is provided with a matching portion 101;
  • the suspension member 200 at least part of the suspension member 200 is disposed in the base 100;
  • the middle piece 300 is pressed on the upper end of the suspension piece 200;
  • the suction component 400, the suction component 400 is arranged above the intermediate piece 300;
  • the intermediate member 300 when the suction member 400 has no suction force, the intermediate member 300 is pressed against the upper end of the suspension member 200 so that at least part of the suspension member 200 and the mating portion 101 abut against each other, and the suspension member 200 is locked; the suction member 400 has When the suction force is applied, the intermediate member 300 can be driven to move vertically, so that at least part of the suspension member 200 can be disengaged from the mating portion 101, and the posture of the suspension member 200 is suitable for adjustment.
  • the suspension device includes a base 100, a suspension member 200, an intermediate member 300, and an adsorption member 400.
  • the suspension member 200 may be used to connect with a suspension (not shown), the suspension member 200 may be at least partially disposed in the base 100, and the matching portion 101 in the base 100 may be used to cooperate with or restrain the suspension member 200, At least part of the suspension member 200 can abut against the mating portion 101, at this time the suspension member 200 is in a locked or posture locked state (that is, relative movement between the suspension member 200 and the base 100 cannot occur); or at least part of the suspension member 200 It can be staggered with the mating part 101 (for example, with a gap) and disengaged from the top.
  • the suspension 200 is in an unlocked or posture adjustment state (that is, the suspension 200 and the base 100 can move relative to each other), that is, the suspension 200 At least part of it may form a constraining pair with the mating part 101.
  • the intermediate piece 300 may be arranged above the suspension piece 200, and the lower end of the intermediate piece 300 is at least partially in contact with or abuts against the upper end of the suspension piece 200, and the suction member 400 is arranged above the intermediate piece 300.
  • the setting of the suction component 400 can realize the posture adjustment and posture locking of the suspension 200, that is, the posture adjustment or posture locking of the suspension 200 can be controlled by the suction component 400.
  • the suction component 400 has suction force
  • the suspended object is allowed to adjust its posture according to the direction of the center of gravity.
  • the suction component 400 is made to have no suction force, and the adjusted posture is locked.
  • the vertical movement of the middle piece can be driven by the suction force. It is disengaged from the mating portion 101 and abutted, that is, the suspension member 200 is in an unlocked state.
  • the attitude of the suspension 200 can be allowed to be adjusted, so that the attitude of the suspension connected to the suspension 200 can be adjusted by the force of the center of gravity, so that the suspension can be adapted to changes in different environments, even if the suspension device is slightly When it is inclined or not perpendicular to the ground, the hanging object hanging on the hanging member 200 can still be perpendicular to the local horizontal plane.
  • the adsorption force of the adsorption component 400 can be eliminated, and the upper end of the suspension can be pressed by the middle piece so that at least part of the suspension and the mating part abut against each other, and the suspension is restricted.
  • the piece is locked, that is, in a locked state.
  • the suspension device has a simple and compact structure and is easy to operate. It can adjust the attitude of the suspended object, and can ensure the stability of the connection between the magnetic control device and the main body of the mobile capsule endoscope magnetic control system during the inspection process. Operation or results are guaranteed.
  • the suspension member 200 includes a limit part, and the limit part of the suspension part 200 is matched with or constrained with the mating part 101 of the base 100, and the limit part of the suspension member 200 can abut against the mating part 101 of the base 100.
  • the suspension 200 is in a locked or posture locked state, or the limiting portion of the suspension 200 and the mating portion 101 of the base 100 can be staggered and disengaged from each other.
  • the suspension 200 is in an unlocked or posture adjustment state.
  • at least part of the above-mentioned suspension member 200 may be formed as a limiting portion, and the limiting portion may be a certain part of the outer surface of the suspension member 200.
  • the suspension device can adopt a ball hinge structure, which has the characteristics of flexible and accurate control, convenient adjustment, convenient installation, and safety and reliability.
  • the suspension 200 includes a cue 202 and a ball head 201, one end of the cue 202 is provided with a ball head 201, and the other end of the cue 202 extends outward to the outside of the base 100;
  • the ball head 201 is at least partially disposed in the base 100, and the middle piece 300 is pressed on the upper end of the ball head 201.
  • the suspension 200 can be composed of a ball head 201 and a club 202.
  • the ball head 201 and the club 202 are connected to each other.
  • One end of the club 202 can be fixedly connected to the ball head 201, and the other end of the club 202 It can be a free end or used to connect with a suspension, and at least a part of the club 202 or all the clubs 202 can be arranged outside the base 100.
  • the ball head 201 may be at least partially located in the mating part 101 in the base 100, and the cue rod 202 may pass through the mating part 101 in the base 100 and extend to the outside of the base 100, and may be connected to a suspension through the cue rod 202.
  • the mating portion 101 of the base 100 is a ball groove
  • the ball head 201 is at least partially located in the ball groove.
  • the ball groove may be a cavity for accommodating the ball head 201
  • the ball groove may be a spherical groove or a hemispherical groove
  • the ball head 201 may be at least partially located in the ball groove; further, the lower part of the outer surface of the ball head 201 may be in contact with At least part of the inner surface of the ball groove is adapted, that is, the lower part of the outer surface of the ball head 201 can abut or break away from at least part of the inner surface of the ball groove.
  • the suspension 200 can be restricted from rotating around the center of the ball in the ball groove of the base 100.
  • the suspension 200 can be placed on the base 100. The ball groove rotates around the center of the ball.
  • the mating portion 101 of the base 100 may also be a stepped groove (not shown) or a stepped hole (not shown), and the upper part of the stepped groove or the stepped hole may be matched with the outer surface of the lower part of the ball head 201, The diameter of the lower part of the stepped groove or the stepped hole may be smaller than the diameter of the upper part of the stepped groove or the stepped hole.
  • the suspension 200 and the base 100 can form a ball hinge structure, that is, the ball hinge structure includes a suspension 200 and a base 100, where the suspension 200 includes a ball head 201 and a ball rod 202 (also known as a ball hinge).
  • the base 100 can also be called a hinge base or a ball hinge base.
  • the base 100 is provided with a ball groove that matches the ball head 201.
  • the ball head 201 in the suspension 200 and the ball groove of the base 100 can form a restraining pair. Therefore, when the suspension device is perpendicular to the local horizontal plane, a spherical hinge structure can be used.
  • the spherical structure (ball head 201) of the suspension 200 and the mating portion 101 (ie, the ball groove) of the base 100 form a constraining pair, so that the suspension can be Adjust the posture under the action of gravity.
  • the structure has the characteristics of flexible and accurate control, convenient adjustment, convenient installation, and safety and reliability.
  • the middle piece 300 may also be a pressing plate, the middle piece 300 is arranged at the upper end of the ball head 201, the lower end surface of the middle piece 300 may be provided with a cavity for accommodating the ball head 201, that is, the lower end face of the middle piece 300 may have A cavity or ball groove adapted to the upper end surface of the ball head 201. Therefore, when the suction component 400 has no suction force, the intermediate piece 300 can be pressed against the upper end of the ball head 201.
  • the adsorption component 400 includes an electromagnetic chuck, which has an adsorption force when it is energized, and has no adsorption force when the electromagnetic chuck is powered off.
  • the suction component 400 may be an electromagnetic chuck, but it is not limited to this. More generally, the suction component 400 may also be other components with a suction function.
  • the electromagnetic chuck When the electromagnetic chuck is energized, the electromagnetic chuck has an adsorption force; when the electromagnetic chuck is powered off, the electromagnetic chuck has no adsorption force; therefore, the electromagnetic chuck can be used to control the attitude adjustment and attitude lock of the suspended object.
  • the electromagnetic chuck when the electromagnetic chuck is energized, the suspended object can be allowed to adjust its posture according to the direction of the center of gravity; on the other hand, after the adjustment is completed, the electromagnetic chuck is powered off to lock the adjusted posture. Therefore, the suspension device is convenient to operate, easy to control, and has good reliability.
  • the electromagnetic chuck (adsorption component 400) may be connected to an external power supply (not shown) or an energization button (not shown) through an energized cable 401.
  • the electromagnetic chuck is used to control the posture adjustment of the suspended object.
  • the specific operation method can be to use a self-resetting power button, that is, to control the power on or off of the electromagnetic chuck through the power button, which is convenient for personnel to operate and easy to control.
  • the embodiment of the application does not limit the shape or form of the electromagnetic chuck, which can be rectangular, circular, or other shapes; the electromagnetic chuck exemplarily shown in the drawings of the application does not constitute the electromagnetic chuck.
  • the limitation of the chuck, more generally, the electromagnetic chuck can have any structure.
  • the embodiment of the present application does not limit the current in the electromagnetic chuck, and it can be alternating current or direct current.
  • an elastic member 500 may be provided above the middle piece 300 to provide elastic force, so that the middle piece 300 can be pressed against the suspension piece when the electromagnetic chuck is powered off. On the upper end of 200, the suspension 200 is locked.
  • the suspension device includes at least one elastic member 500, and the force of the at least one elastic member 500 acting on the intermediate member 300 can make the suspension member 200 and the mating part 101 abut against each other. .
  • the elastic force of the elastic member 500 acting on the middle member 300 can drive the middle member 300 to be pressed against the upper end of the suspension member 200; on the other hand,
  • the adsorption component 400 has an adsorption force
  • the adsorption force is greater than the elastic force of the elastic component 500, so as to overcome the elastic force of the elastic component 500 and drive the intermediate piece 300 to move vertically.
  • the location of the above-mentioned elastic member may be of various types. Specifically, in some embodiments, the above-mentioned at least one elastic component 500 may be disposed above the middle piece 300; in other embodiments, the above-mentioned at least one elastic component 500 may or may be disposed below the middle piece 300.
  • the suspension device may include two elastic parts 500, and the two elastic parts 500 may both be arranged above the middle part 300 and respectively arranged on both sides of the electromagnetic chuck.
  • the two elastic members 500 may also be arranged below the intermediate member 300, as long as the force of the elastic member 500 acting on the intermediate member 300 can make the suspension member 200 and the mating portion 101 abut against each other. That is, the shape, structure and position of the elastic member 500 shown in the drawings of the present application do not constitute a specific limitation on the elastic member 500.
  • the embodiment of the present application does not limit the number, structure, connection position, etc. of the above-mentioned elastic components 500, which can be two or more, and the shape can be any shape, and can be connected to the upper or the middle part 300.
  • the number or structure of the elastic component 500 shown in the drawings of the present application as an example does not constitute a limitation on the elastic component 500. More generally, the elastic component 500 may have any structure.
  • the elastic force of the elastic member 500 is suitable for driving the middle member 300 to press against the upper end of the suspension member 200; when the adsorption member 400 has the adsorption force, it can overcome the elastic member.
  • the elastic force of 500 drives the middle piece 300 to move vertically. Therefore, the suspension device has a simple structure, is firm and reliable, and is convenient to control.
  • the elastic member 500 includes various elastic members capable of providing elastic force, such as springs, compression springs, wire springs, torsion springs, leaf springs, and elastic pieces; the elastic members 500 may be arranged above the intermediate member 300.
  • the elastic member 500 may also be a tension spring, and the elastic member 500 may be disposed under the intermediate member 300.
  • a guiding mechanism 600 may be provided in the suspension device to provide a guiding function for the middle piece 300.
  • the suspension device includes a guide mechanism 600, the guide mechanism 600 includes a guide rod 601, and the guide rod 601 is sheathed with an elastic member 500;
  • the axial movement of the guide mechanism 600, that is, the intermediate member 300 can move vertically along the guide rod 601 in the guide mechanism 600.
  • the guide rod 601 can pass through the middle part 300, and the upper end of the guide rod 601 can be sheathed with an elastic component 500. After the guide rod 601 passes through the middle part 300, the bottom end of the guide rod 601 can be connected to the base 100.
  • the guide mechanism 600 may include a guide rod 601, and the guide rod 601 may also be replaced with a guide rail, that is, the intermediate member 300 can move along the axial direction of the guide rail.
  • the two elastic members 500 are distributed on both sides of the adsorption member 400; and the two elastic members 500 are respectively sleeved on the two guide rods 601.
  • the guide mechanism 600 includes a guide rod 601 and a sliding seat.
  • the sliding seat is disposed on the intermediate piece 300, and the sliding seat is installed on the guide rod 601, and the sliding seat is slidably connected with the guide rod 601;
  • the intermediate piece 300 and the sliding seat are adapted to move linearly along the axial direction of the guide rod 601.
  • the suspension device may include a guiding mechanism 600 for providing a certain guiding effect for the movement of the intermediate piece 300;
  • the guiding mechanism 600 may include a guiding rod 601 and a sliding seat slidably connected to the guiding rod 601, wherein the sliding The seat may be installed on the intermediate piece 300, the sliding seat may be provided with a through hole, the guide rod 601 may penetrate the through hole of the sliding seat, and the inner wall surface of the through hole may be slidably connected with the outer surface of the guide rod 601. In this way, when the suction member 400 has suction force, the middle part 300 and the sliding seat provided on the middle part 300 can be moved upward along the guide rod 601.
  • the sliding seat may be a linear bearing 602, but it is not limited to this, and the sliding seat may also be other structures that can be matched with the guide rod 601.
  • the linear bearing 602 may be fixedly installed on the intermediate piece 300, the linear bearing may have a bearing hole, and the inner wall surface of the bearing hole may be slidably connected with the outer surface of the guide rod 601. In this way, the structure is simple, easy to install and operate, and the connection is reliable.
  • linear bearing 602 and the intermediate piece 300 are connected by screws 800.
  • the suspension device includes a fixing member 700, the fixing member 700 is connected with the base 100 to form a containing cavity, and the adsorption member 400, the intermediate member 300 and at least part of the suspension member 200 are provided In the accommodating cavity, and the adsorption member 400 is fixedly installed on the fixing member 700; further, the adsorption member 400, the elastic member 500, the guide mechanism 600, the intermediate member 300 and at least part of the suspension member 200 can all be arranged in the accommodating cavity, wherein the suspension The ball head 201 in the piece 200 may be arranged in the receiving cavity, and the cue 202 in the suspension piece 200 may extend outside the receiving cavity. In this way, not only the structure is simple and compact, it is easy to install and disassemble, but also the safety protection of the internal parts of the containing cavity such as the electromagnetic chuck can be realized.
  • the fixing member 700 may also be a limit plate, which may be used to fix the suction member 400 or the elastic member 500. That is, both the upper end of the suction member 400 and the upper end of the elastic member 500 may be connected to the fixing member 700 respectively.
  • the upper end of the guide rod 601 is connected to the fixing member 700, and the lower end of the guide rod 601 passes through the middle member 300 and is connected to the base 100.
  • the base 100 and the fixing member 700 are connected by screws 800.
  • the upper end of the electromagnetic chuck and the fixing member 700 are connected by a screw 800.
  • the upper end of the electromagnetic chuck (adsorption component 400) is connected to the fixing member 700; the lower end of the electromagnetic chuck is close to the upper end surface of the intermediate member 300. It should be understood that when the electromagnetic chuck has no adsorption force, there may be a gap between the lower end surface of the electromagnetic chuck and the upper end surface of the intermediate piece 300. When the electromagnetic chuck has an adsorption force, the lower end surface of the electromagnetic chuck may be connected to the upper end of the intermediate piece. Faces close or touching.
  • the adjustment angle range of the suspension can be determined according to actual conditions.
  • the adjustment angle a of the suspension can be within a cone surface with a cone angle of 2a.
  • the suspension device includes a base 100, a suspension 200, an intermediate member 300, an adsorption member 400, a guiding mechanism 600, an elastic member 500 and a fixing member 700, wherein the base 100 It includes a mating part 101, the mating part 101 may be a ball groove, the suspension 200 includes a ball head 201 and a ball rod 202, the suction part 400 may be an electromagnetic chuck, the elastic part 500 may be a spring, and the guiding mechanism 600 may include a linear bearing 602 and Guide rod 601.
  • the fixing member 700 and the base 100 are connected by a screw 800 to form a containing cavity.
  • the electromagnetic chuck, the intermediate member 300, the spring, the linear bearing 602, the guide rod 601 and the ball head 201 of the suspension member 200 can be arranged in the containing cavity, and the suspension member 200 is
  • the ball shaft 202 can extend outside the accommodating cavity; the upper end of the electromagnetic chuck and the upper end of the spring can be respectively connected to the fixing member 700, the intermediate piece 300 is arranged under the electromagnetic chuck and the spring, and the intermediate piece 300 is pressed on the ball head 201
  • the guide rod 601 is sleeved with a spring, and the upper end of the guide rod 601 is connected to the fixing member 700, and the lower end of the guide rod 601 passes through the middle part 300 and is connected to the base 100.
  • the linear bearing 602 can be fixedly installed on the middle part 300,
  • the linear bearing 602 may have a bearing hole, and the inner wall surface of the bearing hole may be slidably connected with
  • a suspended object such as a magnetron device can be suspended below the suspension 200.
  • the electromagnetic chuck When the electromagnetic chuck is not energized, the electromagnetic chuck has no adsorption force. Under the force of the spring, the intermediate piece 300 and the linear bearing 602 can press the upper end of the ball head 201 of the suspension 200 downward along the guide rod 601, so that the suspension 200 The movement of the lower end of the ball head 201 in the ball groove of the base 100 around the center of the ball is restricted; when the electromagnetic chuck is energized, the electromagnetic chuck has an adsorption force, and the adsorption force of the electromagnetic chuck can be used to overcome the force of the spring. The middle piece 300 And the linear bearing 602 can move upward along the guide rod 601 with a small displacement.
  • the movement distance of the intermediate piece 300 and the linear bearing 602 can be set to the gap b.
  • the suspension 200 can move around the center of the sphere in the ball groove of the base 100.
  • the posture of the suspension connected to the suspension 200 is adjusted by the force of the center of gravity.
  • the adjustment angle a of the suspension can be within a cone surface with a cone angle of 2a.
  • the suspension device has a compact structure, a simple and novel structure, and a small volume through the cooperative arrangement of the base 100, the suspension member 200, the intermediate member 300, the adsorption member 400, the elastic member 500, the guide mechanism 600, and the fixing member 700. It is easy to control, easy to operate, easy to install and disassemble; it can adjust the attitude of the suspended object, which can ensure the stability of the connection between the magnetic control device and the main body of the mobile magnetic control system during the inspection process, which can be used for the inspection operation Or the result is guaranteed. Therefore, the existing magnetron device needs to overcome the inclination problem caused by the uneven ground in different environments.

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Abstract

本申请提供了一种悬挂装置和胶囊内镜磁控系统，涉及医疗器械技术领域。该悬挂装置，包括：底座，设置有配合部；悬挂件，至少部分悬挂件设置于底座内；中间件，中间件压设于悬挂件的上端；吸附部件，吸附部件设置于中间件的上方；其中，在吸附部件无吸附作用力时，中间件压紧于悬挂件的上端而使得至少部分悬挂件与配合部相互抵顶，悬挂件被锁紧；在吸附部件具有吸附作用力时，能够驱动中间件竖向运动，进而能够使至少部分悬挂件与配合部脱离抵顶，悬挂件的姿态适于调整。本申请具有结构简单、紧凑，容易操作等特点，能够缓解现有的磁控装置需要克服不同环境下地面不水平引起的倾斜问题。

Description

悬挂装置和胶囊内镜磁控系统
本申请要求于2020年06月23日提交中国专利局、申请号为202010581403.5、发明名称为“悬挂装置和胶囊内镜磁控系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，尤其涉及一种悬挂装置和胶囊内镜磁控系统。
背景技术
目前，使用磁控胶囊内镜对人体消化道等进行常规检查，是市场上较为先进的一种诊查手段。目前，对于胶囊内镜的控制，可以采用外部驱动的方式，外部驱动是通过体外设备为体内胶囊运动提供动力的驱动方式，即可以采用体外磁控技术实现胶囊内镜在体内运动的定位与引导。
现有的磁控胶囊内镜的控制手段，包括在人体外放置一个磁控装置，该装置能够提供一个可控的变化磁场，进而带动磁控胶囊内镜运动，从而实现磁控胶囊内镜检查视野的变化。目前，市场上的磁控系统大多是固定安装于诊室某个区域，磁控装置与磁控系统主体的连接，一般采用刚性连接。
为了给某些患者提供方便，鉴于医院中会存在行动不便的患者亦需要做内镜检查的情况，因而，移动式的磁控系统存在一定的市场需求。然而，现有的移动式的磁控系统还存在或多或少的问题。例如，现有的移动式的磁控系统需要克服的其中一个问题是，移动式的磁控系统中的磁控装置需要克服不同环境下地面的水平引起的倾斜问题。也就是说，现有的移动式磁控系统在变换使用环境的过程中由于环境或其他因素的影响，其中的磁控装置可能会存在倾斜或未垂直于当地水平面的情况，无法保证在检查过程中，磁控装置与移动式磁控系统主体之间的连接稳定性，影响检查的操作或结果。
鉴于此，特提出本申请。
申请内容
本申请的目的在于提供一种悬挂装置和胶囊内镜磁控系统，具有结构简单，方便操作，能够调整悬挂物的姿态，使得悬挂物可以适应不同环境的改变等特点，能够克服上述问题或者至少部分地解决上述技术问题。
为实现上述目的，本申请采用的技术方案为：
根据本申请的一个方面，本申请提供一种悬挂装置，包括：
底座，设置有配合部；
悬挂件，至少部分所述悬挂件设置于所述底座内；
中间件，所述中间件压设于所述悬挂件的上端；
吸附部件，所述吸附部件设置于所述中间件的上方；
其中，在所述吸附部件无吸附作用力时，所述中间件压紧于所述悬挂件的上端而使得至少部分所述悬挂件与所述配合部相互抵顶，所述悬挂件被锁紧；在所述吸附部件具有吸附作用力时，能够驱动所述中间件竖向运动，进而能够使至少部分所述悬挂件与所述配合部脱离抵顶，所述悬挂件的姿态适于调整。
在一种可能的实现方式中，所述悬挂装置包括至少一个弹性部件，至少一个所述弹性部件作用于所述中间件的力，使得所述悬挂件与所述配合部相互抵顶；
在所述吸附部件无吸附作用力时，所述弹性部件的弹性力适于驱使所述中间件压紧于所述悬挂件的上端；在所述吸附部件具有吸附作用力时，能够克服所述弹性部件的弹性力并带动所述中间件竖向运动。
在一种可能的实现方式中，所述悬挂装置包括导向机构，所述导向机构包括导向杆，所述导向杆上套设有所述弹性部件；
所述中间件适于沿所述导向机构的轴向运动。
可选的，所述弹性部件包括弹簧、压簧、线簧、扭簧、板簧、弹片等各种能够提供弹性力的弹性件。
可选的，所述弹性部件为两个，两个所述弹性部件分布于所述吸附部件的两侧；且两个所述弹性部件分别套设于两个所述导向杆上。
在一种可能的实现方式中，所述悬挂装置包括导向机构，所述导向机构包括导向杆和滑动座，所述滑动座设置于所述中间件，且所述滑动座安装在所述导向杆上，所述滑动座与所述导向杆滑动连接；
所述中间件和所述滑动座适于沿所述导向杆轴向直线运动。
在一种可能的实现方式中，所述滑动座包括直线轴承。
在一种可能的实现方式中，所述悬挂装置包括固定件，所述固定件与所述底座连接形成容纳腔体，所述吸附部件、所述中间件和至少部分所述悬挂件设置于所述容纳腔体内，且所述吸附部件固定安装于所述固定件。
可选的，所述底座与所述固定件通过螺钉连接。
在一种可能的实现方式中，所述导向杆的上端与所述固定件连接，所述导向杆的下端穿过所述中间件并与所述底座连接。
在一种可能的实现方式中，所述悬挂件包括球杆和球头，所述球杆的一端设置有所述球头，所述球杆的另一端向外延伸至所述底座的外部；
所述球头至少部分地设置于所述底座内，且所述中间件压设于所述球头的上端。
在一种可能的实现方式中，所述底座的配合部为球槽，所述球头至少部分地位于所述球槽内；
或者，所述底座的配合部为阶梯槽或阶梯孔，所述阶梯槽或阶梯孔的上部分可以与球头的下部分外表面相适配。
上述悬挂件与底座可以形成球铰链结构，即该球铰链结构包括悬挂件和底座，其中的，悬挂件包括球头和球杆(也可称为球铰杆)，底座也可以称为铰链底座或球铰座，底座设置有与球头相配合的球槽，悬挂件中的球头与底座的球槽可以形成约束副。
在一种可能的实现方式中，所述吸附部件包括电磁吸盘，所述电磁吸盘在通电时具有吸附作用力，所述电磁吸盘在断电时无吸附作用力。
在一种可能的实现方式中，所述电磁吸盘的上端与所述固定件连接；所述电磁吸盘的下端靠近所述中间件的上端面。
可选的，所述电磁吸盘的上端与所述固定件通过螺钉连接。
在一种可能的实现方式中，所述电磁吸盘通过通电线缆与外部电源或通电按钮连接。
在一种可能的实现方式中，所述悬挂装置还包括弹性部件、导向机构和固定件，所述导向机构包括导向杆和滑动座；
所述底座与所述固定件连接并形成容纳腔体，所述中间件、所述吸附部件、所述弹性部件、所述导向机构和部分所述悬挂件均位于所述容纳腔体内，其余部分所述悬挂件适于通过所述配合部延伸至所述容纳腔体外；
所述吸附部件设置于所述中间件的上方，所述中间件压设于所述悬挂件的上端，所述中间件设置有所述滑动座，且所述滑动座安装在所述导向杆上，所述滑动座与所述导向杆滑动连接，所述导向杆上套设有所述弹性部件。
在一种可能的实现方式中，所述吸附部件的上端与所述固定件固定连接；
和/或，所述导向杆的上端与所述固定件连接，所述导向杆的下端穿过所述中间件并与所述底座连接；
和/或，所述弹性部件位于所述中间件的上方，或位于所述中间件的下方。
根据本申请的另一个方面，本申请提供一种胶囊内镜磁控系统，包括如上所述的悬挂装置。该胶囊内镜磁控系统可以用于对胶囊内镜进行控制。
可选的，所述胶囊内镜磁控系统为移动式胶囊内镜磁控系统。
可选的，所述胶囊内镜磁控系统包括磁控装置和悬挂装置，该磁控装置可以提供可控的变化磁场，磁控装置可以与悬挂装置中的悬挂件连接。
与现有技术相比，本申请提供的技术方案可以达到以下有益效果：
本申请提供的悬挂装置，包括底座、悬挂件、中间件和吸附部件，其中，悬挂件可以用于与悬挂物连接，悬挂件的至少部分可以设置于底座中的配合部，且悬挂件的至少部分可以与配合部相互抵顶或者相互错开而脱离抵顶，也就是悬挂件的至少部分可以与配合部形成约束副；中间件设置于悬挂件的上方，吸附部件设置于中间件的上方，通过中间件和吸附部件的设置可以实现悬挂件的姿态调整和姿态锁死，即可以采用吸附部件来控制悬挂件的姿态调整或姿态锁死。进一步，当吸附部件无吸附作用力时，可以通过中间件压紧于悬挂件的上端进而使得至少部分悬挂件与配合部相互抵顶，此时悬挂件被锁紧，即处于锁定状态；当吸附部件具有吸附作用力时，通过该吸附作用力能够驱动中间件竖向运动，进而能够使至少部分悬挂件与配合部脱离抵顶，此时可以允许悬挂件的姿态进行调整，进而可以使与悬挂件相连接的悬挂物根据重心方向来调整姿态，由此，可以使得悬挂物适应不同环境的改变。
该悬挂装置结构简单、紧凑，方便操作，能够调整悬挂物的姿态，在检查过程中，保证磁控装置与移动式磁控系统主体之间的连接稳定性，进而可以为检查的操作或结 果提供保障。
本申请的胶囊内镜磁控系统，包括所述的悬挂装置，具有前面所述的悬挂装置的所有特点和优点，在此不再赘述。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。
附图说明
图1为本申请实施例提供的悬挂装置的结构示意图；
图2为本申请实施例提供的悬挂装置的剖面示意图；
图3为本申请实施例提供的悬挂装置的爆炸示意图。
附图标记：
100-底座；
101-配合部；
200-悬挂件；
201-球头；
202-球杆；
300-中间件；
400-吸附部件；
401-通电线缆；
500-弹性部件；
600-导向机构；
601-导向杆；
602-直线轴承；
700-固定件；
800-螺钉；
间隙-b；调整角度-a。
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
具体实施方式
为了更好的理解本申请的技术方案，下面结合附图对本申请实施例进行详细描述。
应当明确，所描述的实施例仅仅是本申请一部分实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于 本申请保护的范围。
在一种具体实施例中，下面通过具体的实施例并结合附图对本申请做进一步的详细描述。
本领域技术人员理解，如背景技术所言，现有的磁控系统如胶囊内镜磁控制系统为了满足不同患者的需求，需要提供可移动式的磁控系统。例如，公开号为CN 105615817A的专利公开的一种医疗胶囊内镜磁控导航装置，该装置具有可移动基座，为可移动式的磁控系统，其中的磁控装置可以包括混合式磁场发生器和五自由度运动机构，磁控系统主体可以包括可移动基座，磁控装置与磁控系统主体之间刚性连接；这样，在该装置移动过程中或转换不同的场景时，若地面不平，就会导致磁控装置的倾斜，影响了连接的稳定性或检查的效果。再如，公开号为CN 103222842A的专利公开的一种控制胶囊内窥镜在人体消化道运动的装置及方法，其包括底座、磁控装置和磁球，通过底座可以使得磁控装置位置发生改变，磁控装置用一个姿态可实现调节的磁球来为磁控胶囊内镜提供外界磁场。若其底座下方设有万向轮，其可以为可移动式的磁控系统，然而，该移动式磁控系统上的磁控装置同样需要克服不同环境下地面的不水平引起的倾斜问题；同时，还需保证在检查过程中，磁控装置与移动式磁控系统主体(底座)之间的连接稳定性。
因而，为了克服现有技术的不完善，进一步满足如今的市场需求，本申请实施例的技术方案提供一种悬挂装置和胶囊内镜磁控系统，通过在胶囊内镜磁控系统中设置悬挂装置，并将磁控装置与悬挂装置中的悬挂件连接，可以实现磁控装置根据重力来调节姿态，使其始终垂直于当地水平面，并且调整结束后，又可以使各装置之间保持良好的刚性连接；该悬挂装置结构简单，操作方式也十分方便。
在一种具体实施例中，下面通过具体的实施例并结合附图对本申请做进一步的详细描述。
本申请实施例提供一种胶囊内镜磁控系统(未图示)，该胶囊内镜磁控系统可以用于对胶囊内镜进行控制，至少包括胶囊内镜、磁控装置和悬挂装置。其中，磁控装置可以提供可控的变化磁场，进而可以带动磁控胶囊内镜(如胶囊胃镜)在人体内的运动，也就是可以通过设置于体外的该磁控装置精确控制进入人体内的胶囊内镜的运动、姿态和方向等；悬挂装置可以与磁控装置连接，用于实现磁控装置根据重力来调节姿态，使磁控装置始终垂直于当地水平面。
上述胶囊内镜也可称为胶囊内窥镜，其内部会集成有磁体、光学影像系统等，可用于在人体内进行消化道等的影像检查。
具体地，该胶囊内镜磁控系统可以为移动式胶囊内镜磁控系统。其中，磁控装置可以与悬挂装置中的悬挂件连接，即可以将磁控装置悬挂于悬挂件的下方，进而能够使下方的磁控装置进行姿态的调整，使得在不同的地面环境下，磁控装置依旧可以垂直于当地水平面。
由此，本申请提供的胶囊内镜磁控系统，通过悬挂装置的设置，能够克服现有的磁控装置由于不同环境下地面的不水平引起的倾斜问题；同时，还能够保证在检查过程中，磁控装置与移动式胶囊内镜磁控系统之间的连接稳定性。
本说明书的描述中，需要说明的是，地面(ground)所指的是地面环境(例如可 以包括斜面、起伏或弧度等)，当地水平面(horizon)指的是垂直当地垂线(可以是铅垂线、地理垂线或者质量引力垂线)的平面。
需要说明的是，本申请实施例中，所示意的胶囊内镜磁控系统的组成或结构并不构成对胶囊内镜磁控系统的具体限定。例如，本申请另一些实施例中，胶囊内镜磁控系统可以包括更多或更少的装置，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。例如，该胶囊内镜磁控系统包括胶囊内镜、磁控装置和悬挂装置，还可以包括万向轮等其他现有技术公知的部件，本申请对于其他的装置或部件及连接关系不作特殊限制，该胶囊内镜磁控系统的核心在于包括了本申请的悬挂装置。
应理解，本申请实施例中，对于上述胶囊内镜、磁控装置的具体结构不作限定。此外，上述胶囊内镜磁控系统的说明中未详细描述的内容，均是本领域技术人员容易想到的常用结构或连接方式，可以参照现有技术，或由本领域技术人员根据实际情况进行调控，因此可以省略对其的详细说明。
以下将对悬挂装置的具体结构进行进一步阐述：
应当理解，本申请的技术方案中，悬挂装置不局限于应用在胶囊内镜磁控系统上，还可以应用在胶囊内镜磁控系统以外的设备上。也就是说，该悬挂装置中的悬挂件可以与磁控装置连接，也可以与其他的悬挂物连接，用于调节其他的悬挂物的姿态。为了方便描述，本申请实施例主要以悬挂物为磁控装置为例对所述悬挂装置做具体阐述。然而，本领域技术人员将理解，本申请的原理可以在任何布置适当的悬挂物中实现。此外，为了清楚和简洁，可以省略对公知功能或作用的描述。
具体地，请参阅图1-图3所示，在一些实施例中提供一种悬挂装置，包括：
底座100，设置有配合部101；
悬挂件200，至少部分悬挂件200设置于底座100内；
中间件300，中间件300压设于悬挂件200的上端；
吸附部件400，吸附部件400设置于中间件300的上方；
其中，在吸附部件400无吸附作用力时，中间件300压紧于悬挂件200的上端而使得至少部分悬挂件200与配合部101相互抵顶，悬挂件200被锁紧；在吸附部件400具有吸附作用力时，能够驱动中间件300竖向运动，进而能够使至少部分悬挂件200与配合部101脱离抵顶，悬挂件200的姿态适于调整。
该悬挂装置，包括底座100、悬挂件200、中间件300和吸附部件400。其中，悬挂件200可以用于与悬挂物(未图示)连接，悬挂件200可以至少部分设置于底座100内，底座100中的配合部101可以用于与悬挂件200相配合或相约束，悬挂件200的至少部分可以与配合部101相互抵顶，此时悬挂件200处于锁定或姿态锁死状态(即悬挂件200与底座100之间无法发生相对运动)；或者悬挂件200的至少部分可以与配合部101相互错开(例如具有缝隙)而脱离抵顶，此时悬挂件200处于解锁或姿态调整状态(即悬挂件200与底座100之间能发生相对运动)，也就是悬挂件200的至少部分可以与配合部101形成约束副。中间件300可以设置于悬挂件200的上方，且中间件300的下端至少部分与悬挂件200的上端至少部分相接触或抵接，吸附部件400设置于中间件300的上方，通过中间件300和吸附部件400的设置可以实现悬挂件200的姿态调整和姿态锁死，即可以通过吸附部件400来控制悬挂件200的姿态调整或姿 态锁死。当吸附部件400具有吸附作用力时，允许悬挂物根据重心方向来调整姿态，调整结束后，使吸附部件400无吸附作用力，进而锁定调整后的姿态。
实际应用中，一方面，当吸附部件400具有吸附作用力时，通过该吸附作用力能够驱动中间件竖向运动，例如可以向靠近吸附部件400底面的方向运动，进而能够使至少部分悬挂件200与配合部101脱离抵顶，即悬挂件200处于解锁状态。此时可以允许悬挂件200的姿态进行调整，进而可以使与悬挂件200相连接的悬挂物的姿态由重心作用力自我调整，由此，可以使得悬挂物适应不同环境的改变，即使悬挂装置略微倾斜或不垂直于地面时，悬挂于悬挂件200上的悬挂物依旧可以垂直于当地水平面。另一方面，调整结束后，消除吸附部件400的吸附作用力，可以通过中间件压紧于悬挂件的上端进而使得至少部分悬挂件与配合部相互抵顶，悬挂件被限制住，此时悬挂件被锁紧，即处于锁定状态。
该悬挂装置结构简单、紧凑，方便操作，能够调整悬挂物的姿态，能够保证在检查过程中，磁控装置与移动式胶囊内镜磁控系统主体之间的连接稳定性，进而可以为检查的操作或结果提供保障。
可选的，悬挂件200包括限位部，悬挂件200的限位部与底座100的配合部101相配合或相约束，悬挂件200的限位部可以与底座100的配合部101相互抵顶，此时悬挂件200处于锁定或姿态锁死状态，或者悬挂件200的限位部可以与底座100的配合部101相互错开而脱离抵顶，此时悬挂件200处于解锁或姿态调整状态。应理解，上述悬挂件200的至少部分可以形成为限位部，该限位部可以为悬挂件200的某一部分外表面。
为了方便使得悬挂物在重力作用下调整姿态，该悬挂装置中可以采用球铰链结构，具有控制灵活、准确，调整方便、安装方便和安全可靠的特点。在一些实施方式中，如图2所示，悬挂件200包括球杆202和球头201，球杆202的一端设置有球头201，球杆202的另一端向外延伸至底座100的外部；球头201至少部分地设置于底座100内，且中间件300压设于球头201的上端。
根据本申请实施例，该悬挂件200可以由球头201和球杆202组成，球头201和球杆202相互连接，球杆202的一端可以与球头201固定连接，球杆202的另一端可以为自由端或者用于与悬挂物连接，且至少部分球杆202或全部球杆202可以设置于底座100的外部。该球头201至少部分可以位于底座100中的配合部101，球杆202可以穿过底座100中的配合部101向底座100外部延伸，可以通过球杆202与悬挂物连接。
在一些实施方式中，如图2或图3所示，底座100的配合部101为球槽，球头201至少部分地位于球槽内。该球槽可以为用于容纳球头201的容腔，该球槽可以为球形槽或者半球形槽，球头201至少部分可以位于球槽内；进一步，球头201的下部分外表面可以与球槽的至少部分内表面相适配，即球头201的下部分外表面可以与球槽的至少部分内表面相抵顶或脱离抵顶。在吸附部件400无吸附作用力时，可以使悬挂件200在底座100的球槽内的绕球心转动被限制住，在吸附部件400具有吸附作用力时，可以使悬挂件200在底座100的球槽内绕球心转动。
可选的，底座100的配合部101也可以为阶梯槽(未图示)或阶梯孔(未图示)， 阶梯槽或阶梯孔的上部分可以与球头201的下部分外表面相适配，阶梯槽或阶梯孔的下部分直径可以小于阶梯槽或阶梯孔的上部分直径。
可以理解，上述悬挂件200与底座100可以形成球铰链结构，即该球铰链结构包括悬挂件200和底座100，其中的，悬挂件200包括球头201和球杆202(也可称为球铰杆)，底座100也可以称为铰链底座或球铰座，底座100设置有与球头201相配合的球槽，悬挂件200中的球头201与底座100的球槽可以形成约束副。由此，当悬挂装置垂直于当地水平面时，可以采用球铰链结构，悬挂件200的球形结构(球头201)与底座100的配合部101(即球槽)形成约束副，能够使得悬挂物在重力作用下调整姿态。该结构具有控制灵活、准确，调整方便，安装方便，而且安全可靠等特点。
可选的，中间件300也可以为压板，中间件300设置于球头201的上端，中间件300的下端面可以设置有用于容纳球头201的容腔，即中间件300的下端面可以具有与球头201上端面相适配的容腔或球槽。由此，在吸附部件400无吸附作用力时，可以使得中间件300压紧于球头201的上端。
在一些实施方式中，吸附部件400包括电磁吸盘，电磁吸盘在通电时具有吸附作用力，电磁吸盘在断电时无吸附作用力。
根据本申请实施例，吸附部件400可以为电磁吸盘，但并不限于此，更一般地，吸附部件400还可以为其他具有吸附功能的构件。在电磁吸盘通电时，电磁吸盘具有吸附作用力；在电磁吸盘断电时，电磁吸盘无吸附作用力；由此，可以通过采用电磁吸盘来控制悬挂物的姿态调整和姿态锁死。一方面，当电磁吸盘通电时，可以允许悬挂物根据重心方向来调整姿态；另一方面，调整结束后，电磁吸盘断电，可以锁死调整后的姿态。因此，悬挂装置操作方便，容易控制，可靠性好。
在一些实施方式中，如图3所示，电磁吸盘(吸附部件400)可以通过通电线缆401与外部电源(未图示)或通电按钮(未图示)连接。使用电磁吸盘的方式来控制悬挂物的姿态调整，具体操作方式可以是利用自复位通电按钮，即通过该通电按钮控制电磁吸盘的通电或断电，这样人员操作方便，容易控制。
需要指出的是，本申请实施例对于上述电磁吸盘的形状或形式不作限定，其可以是矩形、圆形或其他形状等；本申请附图示例性的示出的电磁吸盘并不能构成对该电磁吸盘的限定，更一般地，该电磁吸盘可以具有任何的结构形式。
本申请实施例对于电磁吸盘中的电流也不作限定，可以是交流电，也可以是直流电。
为了使中间件300能够压紧于悬挂件200的上端，可以在中间件300的上方设置弹性部件500，以提供弹性力，进而使得在电磁吸盘断电时，中间件300可以压紧于悬挂件200的上端，锁紧悬挂件200。在一些实施方式中，如图2或图3所示，悬挂装置包括至少一个弹性部件500，至少一个弹性部件500作用于中间件300上的力，可以使得悬挂件200与配合部101相互抵顶。通过该弹性部件500的设置，一方面，可以在吸附部件400无吸附作用力时，通过弹性部件500作用于中间件300的弹性力，可以驱使中间件300压紧于悬挂件200的上端；另一方面，在吸附部件400具有吸附作用力时，该吸附作用力大于弹性部件500的弹性力，从而能够克服该弹性部件500的弹性力，并带动中间件300进行竖向运动。
进一步，上述弹性部件的设置位置可以是多种类型的。具体地，在一些实施例中，上述至少一个弹性部件500可以设置于中间件300的上方；在另一些实施例中，上述至少一个弹性部件500可以也可以设置于中间件300的下方。
示例性的，如图1或图2所示，悬挂装置可以包括两个弹性部件500，两个弹性部件500可以均设置于中间件300的上方，且分别设置于电磁吸盘的两侧。此外，在另一些实施例中，两个弹性部件500可以也设置于中间件300的下方，只要能够通过弹性部件500作用在中间件300上的力，使得悬挂件200与配合部101相互抵顶即可，本申请附图中所示意的弹性部件500的形状结构、位置并不构成对弹性部件500的具体限定。
应当理解的是，本申请实施例对于上述弹性部件500的数量、结构、连接位置等不作限定，其可以是两个或更多个，形状可以为任何形状，可以连接于中间件300的上方或下方；本申请附图示例性的示出的弹性部件500的数量或结构形式等并不能构成对该弹性部件500的限定，更一般地，该弹性部件500可以具有任何的结构形式。
这样，在吸附部件400如电磁吸盘无吸附作用力时，弹性部件500的弹性力适于驱使中间件300压紧于悬挂件200的上端；在吸附部件400具有吸附作用力时，能够克服弹性部件500的弹性力并带动中间件300竖向运动。由此，悬挂装置结构简单，牢固可靠，方便控制。
可选的，弹性部件500包括弹簧、压簧、线簧、扭簧、板簧、弹片等各种能够提供弹性力的弹性件；该弹性部件500可以设置于中间件300的上方。
可选的，弹性部件500还可以为拉簧，该弹性部件500可以设置于中间件300的下方。
为了使中间件300的移动不偏移，，可以在悬挂装置中设置导向机构600，而向中间件300提供导向作用。具体地，在一些实施方式中，如图2或图3所示，悬挂装置包括导向机构600，导向机构600包括导向杆601，导向杆601上套设有弹性部件500；中间件300适于沿导向机构600的轴向运动，即中间件300可以沿导向机构600中的导向杆601进行竖直上下运动。该导向杆601可以穿设于中间件300，导向杆601的上端可以套设有弹性部件500，导向杆601穿过中间件300之后，其底端可以与底座100连接。
应理解，该导向机构600可以包括导向杆601，该导向杆601也可以替换为导轨，即中间件300可以沿导轨的轴向运动。
可选的，弹性部件500为两个，两个弹性部件500分布于吸附部件400的两侧；且两个弹性部件500分别套设于两个导向杆601上。
进一步，如图2或图3所示，导向机构600包括导向杆601和滑动座，滑动座设置于中间件300，且滑动座安装在导向杆601上，滑动座与导向杆601滑动连接；
中间件300和滑动座适于沿导向杆601的轴向直线运动。
根据本申请实施例，悬挂装置可以包括导向机构600，用于为中间件300的移动提供一定的导向作用；导向机构600可以包括导向杆601和与导向杆601滑动连接的滑动座，其中，滑动座可以安装在中间件300上，滑动座可以设置有通孔，导向杆601可以贯穿滑动座的通孔，通孔的内壁面可以与导向杆601的外侧面滑动连接。这样， 在吸附部件400具有吸附作用力时，可以使中间件300和设置于中间件300的滑动座沿着导向杆601向上运动。
在一些实施方式中，滑动座可以为直线轴承602，但并不限于此，滑动座也可以为其他能够与导向杆601相配合的结构。直线轴承602可以固定安装于中间件300，直线轴承可以具有轴承孔，轴承孔的内壁面可以与导向杆601的外侧面滑动连接。这样，结构简单，容易安装和操作，且连接可靠。
可选的，直线轴承602与中间件300通过螺钉800连接。
在一些实施方式中，图1、图2或图3所示，悬挂装置包括固定件700，固定件700与底座100连接形成容纳腔体，吸附部件400、中间件300和至少部分悬挂件200设置于容纳腔体内，且吸附部件400固定安装于固定件700；进一步，吸附部件400、弹性部件500、导向机构600、中间件300和至少部分悬挂件200均可以设置于容纳腔体内，其中，悬挂件200中的球头201可以设置于容纳腔体内，悬挂件200中的球杆202可以延伸至容纳腔体外。这样，不但结构简单、紧凑，容易安装和拆卸，而且可以实现对电磁吸盘等容纳腔体内部部件的安全防护。
根据本申请实施例，该固定件700也可以为限位板，可以用于固定吸附部件400，也可以用于固定弹性部件500。也就是，吸附部件400的上端和弹性部件500的上端均可以分别为固定件700连接。
在一些实施方式中，导向杆601的上端与固定件700连接，导向杆601的下端穿过中间件300并与底座100连接。
可选的，底座100与固定件700通过螺钉800连接。
可选的，电磁吸盘的上端与固定件700通过螺钉800连接。
在一些实施方式中，电磁吸盘(吸附部件400)的上端与固定件700连接；电磁吸盘的下端靠近中间件300的上端面。应理解，在电磁吸盘无吸附作用力时，电磁吸盘的下端面可以与中间件300的上端面之间具有间隙，在电磁吸盘具有吸附作用力时，电磁吸盘的下端面可以与中间件的上端面相靠近或接触。
进一步，如图2所示，电磁吸盘的下端面与中间件300的上端面之间具有间隙b，该间隙b可以为中间件300能够向上移动的距离。一般情况下，该间隙b不宜过大，只要能够使悬挂件200的球头201的至少部分与底座100的球槽脱离抵顶，使得悬挂件200能够在底座100的球槽内绕球心转动即可。进一步，如图1所示，悬挂物的调整角度范围可以根据实际情况而确定，例如，悬挂物的调整角度a范围可以是圆锥角为2a的圆锥面内。
具体地，作为本申请实施例的一种优选实施方式，该悬挂装置包括底座100、悬挂件200、中间件300、吸附部件400、导向机构600、弹性部件500和固定件700，其中，底座100包括配合部101，该配合部101可以为球槽，悬挂件200包括球头201和球杆202，吸附部件400可以为电磁吸盘，弹性部件500可以为弹簧，导向机构600可以包括直线轴承602和导向杆601。
固定件700与底座100通过螺钉800连接形成容纳腔体，电磁吸盘、中间件300、弹簧、直线轴承602、导向杆601和悬挂件200中球头201可以设置于容纳腔体内，悬挂件200中的球杆202可以延伸至容纳腔体外；电磁吸盘的上端和弹簧的上端可以 分别与固定件700连接，中间件300设置于电磁吸盘和弹簧的下方，且中间件300压设于球头201的上端，导向杆601上套设有弹簧，且导向杆601的上端与固定件700连接，导向杆601的下端穿过中间件300并与底座100连接，直线轴承602可以固定安装于中间件300，直线轴承602可以具有轴承孔，轴承孔的内壁面可以与导向杆601的外侧面滑动连接。
实际使用中，可以将悬挂物如磁控装置悬挂于悬挂件200的下方。在电磁吸盘未通电时，电磁吸盘无吸附作用力，在弹簧的作用力下，中间件300和直线轴承602可以沿导向杆601向下压紧悬挂件200的球头201上端，使得悬挂件200的球头201下端在底座100的球槽内的绕球心运动被限制住；在电磁吸盘通电时，电磁吸盘具有吸附作用力，可以利用电磁吸盘的吸附力克服弹簧的作用力，中间件300和直线轴承602可以沿导向杆601向上运动较小的位移，例如可以使中间件300和直线轴承602的运动距离为间隙b，此时，悬挂件200可以在底座100的球槽内绕球心转动，与并使与悬挂件200相连的悬挂物姿态由重心作用力自我调整，例如悬挂物的调整角度a范围可以是圆锥角为2a的圆锥面内。当调整结束后，可以使电磁吸盘断电，悬挂物姿态通过中间件压紧悬挂件作用力而被限制。
由此，该悬挂装置通过上述底座100、悬挂件200、中间件300、吸附部件400、弹性部件500、导向机构600和固定件700等的配合设置，具有结构紧凑，简单新颖，体积较小，容易控制，方便操作，容易安装和拆卸等特点；能够调整悬挂物的姿态，能够保证在检查过程中，磁控装置与移动式磁控系统主体之间的连接稳定性，进而可以为检查的操作或结果提供保障。因此，有效缓解了现有的磁控装置需要克服不同环境下地面的不水平引起的倾斜问题。
需要指出的是，本专利申请文件的一部分包含受著作权保护的内容。除了对专利局的专利文件或记录的专利文档内容制作副本以外，著作权人保留著作权。

Claims (12)

  1. 一种悬挂装置，其特征在于，包括：
    底座，设置有配合部；
    悬挂件，至少部分所述悬挂件设置于所述底座内；
    中间件，所述中间件压设于所述悬挂件的上端；
    吸附部件，所述吸附部件设置于所述中间件的上方；
    其中，在所述吸附部件无吸附作用力时，所述中间件压紧于所述悬挂件的上端而使得至少部分所述悬挂件与所述配合部相互抵顶，所述悬挂件被锁紧；在所述吸附部件具有吸附作用力时，能够驱动所述中间件竖向运动，进而能够使至少部分所述悬挂件与所述配合部脱离抵顶，所述悬挂件的姿态适于调整。
  2. 根据权利要求1所述的悬挂装置，其特征在于，所述悬挂装置包括至少一个弹性部件，至少一个所述弹性部件作用于所述中间件的力，使得所述悬挂件与所述配合部相互抵顶；
    在所述吸附部件无吸附作用力时，所述弹性部件的弹性力适于驱使所述中间件压紧于所述悬挂件的上端；在所述吸附部件具有吸附作用力时，能够克服所述弹性部件的弹性力并带动所述中间件竖向运动。
  3. 根据权利要求2所述的悬挂装置，其特征在于，所述悬挂装置包括导向机构，所述导向机构包括导向杆，所述导向杆上套设有所述弹性部件；
    所述中间件适于沿所述导向机构的轴向运动。
  4. 根据权利要求1所述的悬挂装置，其特征在于，所述悬挂装置包括导向机构，所述导向机构包括导向杆和滑动座，所述滑动座设置于所述中间件，且所述滑动座安装在所述导向杆上，所述滑动座与所述导向杆滑动连接；
    所述中间件和所述滑动座适于沿所述导向杆轴向直线运动。
  5. 根据权利要求4所述的悬挂装置，其特征在于，所述滑动座包括直线轴承。
  6. 根据权利要求1所述的悬挂装置，其特征在于，所述悬挂装置包括固定件，所述固定件与所述底座连接形成容纳腔体，所述吸附部件、所述中间件和至少部分所述悬挂件设置于所述容纳腔体内，且所述吸附部件固定安装于所述固定件。
  7. 根据权利要求1-6任一项所述的悬挂装置，其特征在于，所述悬挂件包括球杆和球头，所述球杆的一端设置有所述球头，所述球杆的另一端向外延伸至所述底座的外部；
    所述球头至少部分地设置于所述底座内，且所述中间件压设于所述球头的上端。
  8. 根据权利要求7所述的悬挂装置，其特征在于，所述底座的配合部为球槽，所述球头至少部分地位于所述球槽内；
    或所述底座的配合部为阶梯槽或阶梯孔，所述阶梯槽或阶梯孔的上部分适于与球头的下部分外表面相适配。
  9. 根据权利要求1-6任一项所述的悬挂装置，其特征在于，所述吸附部件包括 电磁吸盘，所述电磁吸盘在通电时具有吸附作用力，所述电磁吸盘在断电时无吸附作用力。
  10. 根据权利要求1所述的悬挂装置，其特征在于，所述悬挂装置还包括弹性部件、导向机构和固定件，所述导向机构包括导向杆和滑动座；
    所述底座与所述固定件连接并形成容纳腔体，所述中间件、所述吸附部件、所述弹性部件、所述导向机构和部分所述悬挂件均位于所述容纳腔体内，其余部分所述悬挂件适于通过所述配合部延伸至所述容纳腔体外；
    所述吸附部件设置于所述中间件的上方，所述中间件压设于所述悬挂件的上端，所述中间件设置有所述滑动座，且所述滑动座安装在所述导向杆上，所述滑动座与所述导向杆滑动连接，所述导向杆上套设有所述弹性部件。
  11. 根据权利要求10所述的悬挂装置，其特征在于，所述吸附部件的上端与所述固定件固定连接；
    和/或，所述导向杆的上端与所述固定件连接，所述导向杆的下端穿过所述中间件并与所述底座连接；
    和/或，所述弹性部件位于所述中间件的上方，或位于所述中间件的下方。
  12. 一种胶囊内镜磁控系统，其特征在于，包括权利要求1-11任一项所述的悬挂装置。
PCT/CN2021/101803 2020-06-23 2021-06-23 悬挂装置和胶囊内镜磁控系统 WO2021259320A1 (zh)

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