WO2023143166A1 - 屏蔽装置及磁控胶囊内窥镜系统 - Google Patents

屏蔽装置及磁控胶囊内窥镜系统 Download PDF

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Publication number
WO2023143166A1
WO2023143166A1 PCT/CN2023/072311 CN2023072311W WO2023143166A1 WO 2023143166 A1 WO2023143166 A1 WO 2023143166A1 CN 2023072311 W CN2023072311 W CN 2023072311W WO 2023143166 A1 WO2023143166 A1 WO 2023143166A1
Authority
WO
WIPO (PCT)
Prior art keywords
shielding
sub
groove
shielding device
shield
Prior art date
Application number
PCT/CN2023/072311
Other languages
English (en)
French (fr)
Inventor
王开飞
段晓东
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.)
Filing date
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
Publication of WO2023143166A1 publication Critical patent/WO2023143166A1/zh

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Classifications

    • 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
    • A61B1/00131—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
    • A61B1/045—Control thereof
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K9/00—Screening of apparatus or components against electric or magnetic fields
    • H05K9/0007—Casings

Definitions

  • the present invention relates to the technical field of medical instruments, and more specifically, to a shielding device and a magnetically controlled capsule endoscope system.
  • the magnetically controlled capsule endoscope system includes a capsule endoscope and a magnetically controlled system, and the movement mode, movement path, and attitude angle of the capsule endoscope can be controlled through the main control part of the magnetically controlled system.
  • the main control part of the magnetic control system moves to its working area, or the subject enters the working area of the main control part of the magnetic control system, and then the capsule endoscope is controlled to move in the digestive tract in the working area Images of the digestive tract are thus captured.
  • the main control part of the magnetic control system used to control the capsule endoscope is a strong magnet made of NdFeB material.
  • the strong magnet has a large specification, and the surface magnetic field strength can reach more than 850mT, so it has a strong magnetic effect on ferromagnetic items or items containing ferromagnetic parts. Based on this, when the control main part is in an unshielded state, if it is left standing, the nearby magnetically sensitive equipment will be affected due to the lack of shielding devices in its standing environment, so the magnetically sensitive equipment cannot work normally.
  • the above-mentioned magnetically sensitive devices include medical components implanted in the human body and other electronic components.
  • the magnetic control system is mainly arranged in a separate room to form a safe range around the magnetic control system to prevent magnetically sensitive equipment from entering the safe range, thereby ensuring the safety of the magnetic control system. Safe to use.
  • the magnetic control system Since the magnetic control system has a strong magnetic field control main part, the magnetic control system (at least including the strong magnetic control main part) needs to be effectively shielded to prevent the control main part from affecting other magnetic sensitive equipment during the process of moving and storing. cause damage.
  • this application provides a shielding device and a magnetically controlled capsule endoscope system, which can make the control of the main part in the magnetically controlled capsule endoscope system
  • the magnetic field is effectively shielded, and provides a hardware basis for fast switching operations to control the working state and shielding state of the main part.
  • a shielding device for shielding a strong magnetic control main part includes:
  • a tooling platform, the main control part is placed on the tooling platform under the support of the bracket;
  • a shield the shield is composed of at least two sub-shields joined together, and the end of the side wall of the sub-shield connected to the tooling platform is provided with a clamp;
  • One or more installation parts are fixed on the table top of the tooling platform, and the installation parts are arranged around the placement position of the control main part;
  • the clip is connected to the installation part so that the shield can be detachably installed on the tooling platform to realize the docking or separation action between the sub-shields.
  • the sub-shield includes: a shield body and a shield frame for installing the shield body, wherein,
  • the shielding case frame includes a shielding case slot and a first frame post and a second frame post;
  • the main body of the shielding case is inserted into the shielding case groove, the first frame pillar and the second frame pillar are fixed to the shielding case groove, and are respectively fixed at two groove ends of the shielding case groove .
  • the shielding case includes two adjacent sub-shielding cases;
  • the two adjacent sub-shields are butted through the first frame pillar and the second frame pillar, wherein, among the butted first frame pillar and the second frame pillar, a There is an open slot, and the other is provided with a pin hole;
  • the shielding device also includes a handle, and the handle is installed in the opening slot;
  • the opening groove is also provided with a first screw hole, the handle is rotatably installed in the opening groove by means of a threaded member passing through the first screw hole, and the free end of the handle forms a gripping portion;
  • the handle further includes a bayonet part, and the bayonet part protrudes toward the pin position hole when the handle is installed in the opening slot.
  • the clip includes a rotating shaft, and the rotating shaft is disposed in the slot of the shield;
  • the mounting part is a rotating shaft slot
  • the sub-shield is rotatably mounted on the tooling platform through cooperation between the rotating shaft and the rotating shaft slot.
  • the shielding device further includes a limiting structure, the limiting structure is in contact with the main control part and/or the bracket, and is used to limit the movement of the main control part supported by the bracket.
  • the support is a mechanical arm
  • the position-limiting structure includes a support frame and a clamping part
  • the support frame is used to support the clamping part
  • the clamping part is fixed on the top of the support frame, and the clamping part is used to clamp the mechanical arm to limit the movement of the control main part.
  • the mechanical arm includes a first sub-arm and a second sub-arm that are rotatably connected, and the clamping part is a groove;
  • the groove is used to embed the second sub-arm, and when the second sub-arm is embedded in the groove, the projections of the first sub-arm and the second sub-arm on the target plane have a fixed angle Two straight lines, the target plane is the plane where the groove bottom of the groove is located;
  • the position-limiting structure includes a plurality of protective slides
  • the protection slide plate is arranged on the table top of the tooling platform
  • the protection slide plate is located between the installation part and the placement position of the control main part in an upright state, and a plurality of the protection slide plates are arranged around the placement position of the control main part.
  • a slide plate groove is provided on the table of the tooling platform, and the protection slide plate is installed in the groove of the slide plate groove in a manner of rotating around its bottom, wherein the protection slide plate is erected in a state of magnetic shielding In the sliding plate groove, it is embedded in the sliding plate groove in a non-magnetic shielding state Inside;
  • the tooling platform further includes a locking structure, the locking structure includes a locking button, and the locking structure is used to control the protection slide plate to be in a locked state or an unlocked state in the slide plate groove through the locking button.
  • the position-limiting structure includes a carrying platform, and the carrying platform is fixed on the table of the tooling platform for carrying the main control part;
  • the control main part includes a magnet, and the magnet is encapsulated by the main part housing;
  • the table top of the carrying platform and the end of the main part shell close to the carrying platform are in the shape of mutual fitting.
  • a magnetically controlled capsule endoscope system including:
  • the bracket supports the main control part to move, and the shielding cover of the shielding device is used to shield the main control part supported by the bracket.
  • the shielding device provided by this application is used to shield the strong magnetic control main part.
  • the main control part is placed on the tooling platform under the support of the bracket.
  • the shielding device includes a shielding cover and one or more installations fixed on the tooling platform. parts, wherein, the installation part is set around the placement position of the main control part, the shielding cover is composed of at least two sub-shielding covers joined together, and the side wall of the sub-shielding cover is connected with the end of the tooling platform.
  • the position-limiting structure supports and limits the movement of the main control part, preventing the main control part from contacting the shielding cover, thereby ensuring the shielding effect.
  • Fig. 1 shows a schematic front view of the shielding device of the present application
  • Figure 2 shows an exploded schematic view of the shielding device shown in Figure 1;
  • Figure 3 shows a schematic diagram of the situation where the main control part is supported by the bracket
  • Fig. 4 shows the exploded schematic view of the neutron shielding cover of the shielding device of the present application
  • Figure 5 shows a schematic structural view of the frame pillars in the shielding device of the present application
  • Fig. 6 shows the structural representation of the mechanical arm in the present application
  • Figure 7 shows a schematic structural view of a position-limiting structure in the present application
  • Figure 8 shows a schematic structural view of another limiting structure in the present application.
  • FIG. 9 shows a schematic structural view of the protection slide plate in the limiting structure shown in FIG. 8 .
  • the first embodiment of the present application provides a shielding device installed on a tooling platform for shielding a strong magnetic control main part.
  • the control main part 100 is placed on the tooling platform 300 under the support of the bracket 200
  • the shielding device includes a shielding cover 400 and a mounting part 500 .
  • Figure 2 is an exploded view of the shielding device.
  • the shield 400 is composed of at least two sub-shields 410 joined together, and the side wall of the sub-shield 410 is connected to the tooling platform 300.
  • the shielding cover 410 is detachably installed on the tooling platform 300 through the clip 420 and the mounting piece 500 .
  • the installation part 500 is fixed on the tooling platform 300 , and the installation part 500 is arranged around the placement position of the control main part 100 , and the clip 420 is connected with the installation part 500 to realize the docking action or separation action of the sub-shielding cover 410 .
  • the above-mentioned tooling platform 300 can adopt a movable structure, that is, the tooling platform 300 can move; the above-mentioned tooling platform 300 can also adopt a fixed structure, that is, the tooling platform 300 is fixed on the ground.
  • the fixed tooling platform 300 for example, the ground can be used, and in this case, the installation part 500 is directly fixed on the ground.
  • the installation part 500 is fixed
  • Various methods can be used on the tooling platform 300 , such as installation by threaded fit, mortise fit or riveted fit, etc., as long as the connection strength between the two can be ensured.
  • the control main part 100 mentioned above, as shown in FIG. 3 can be constructed by encapsulating the magnet 101 with the main part casing 102 , and the main part casing 102 plays a role of protecting the magnet 101 .
  • the main part housing 102 can be fixed on the support 200 through a rigid connector 103 (such as a cross beam, etc.), and the movement of the magnet 101 itself is controlled by a motor assembly (such as including a horizontal rotation motor and a vertical rotation motor, etc.).
  • the material of the magnet 101 may be a magnetic material such as a neodymium magnet, and the shape of the magnet 101 may be spherical or the like. It should be emphasized that the present application does not limit the specific shape of the magnet 101 as long as it can realize the control of the capsule endoscope.
  • the shield case 400 described above may be formed in a multi-layer structure.
  • the shielding cover 400 is in the shape of a single-layer cylinder as a whole, and the length-to-diameter ratio is set to 1:1-1.1:1, thereby saving space, making the installation relatively simple, and meeting the miniaturization and mobility requirements of the equipment.
  • the main control part 100 moves with the bracket 200 under the support of the bracket 200 .
  • the shielding cover 400 surrounds the main control part 100
  • the strong magnetic field of the main control part 100 is shielded by the shielding cover 400
  • the main control part 100 is in a magnetic shielding state at this time.
  • the control main part 100 is in an unshielded state.
  • the strong magnetic field of the control main part 100 can be used to control the movement of the capsule endoscope, Therefore, the main control unit 100 can also be referred to as being in a working state.
  • the magnetic field of the main control part 100 is a static magnetic field.
  • the principle of shielding the strong static magnetic field around the control main part 100 by the shielding cover 400 is as follows: the control main part 100 is surrounded by materials with low coercive force, high magnetic permeability and high saturation magnetic induction intensity, so as to control the magnetic field around the main part 100 Establish a magnetic field path to achieve the magnetic field shielding effect.
  • the above-mentioned clamping part 420 may be a rotating shaft as shown in FIG. 2
  • the mounting part 500 may be a rotating shaft slot as shown in FIG. 2
  • the locking part 420 is a rotating shaft slot
  • the mounting part 500 is a rotating shaft.
  • the embodiment of the present application does not further limit the specific form of the rotating shaft and the rotating shaft slot.
  • the rotating shaft can be a ball hinge
  • the rotating shaft slot can be a hinge support, etc., as long as the relative rotation between the sub-shielding cover 410 and the tooling platform 300 can be realized. That's it.
  • clamping part 420 and the mounting part 500 are docked or separated from the sub-shielding cover 410
  • the fulcrum of rotation ensures the stability of the posture of the sub-shield 410, and has the function of reducing the force to ensure the safe docking of the sub-shield 410.
  • each clip 420 is installed on each sub-shield 410 , that is, the number of clips 420 may be equal to the number of sub-shields 410 , or the number of clips 420 may be greater than the number of sub-shields 410 .
  • each clip 420 corresponds to at least one mounting part 500 , that is, the number of mounting parts 500 may be equal to that of the clips 420 , or the number of mounting parts 500 may be greater than that of the clips 420 to meet various installation requirements.
  • the shielding cover 400 is detachably installed on the tooling platform 300.
  • the shielding cover 400 can be removed from the tooling platform 300 and stored (for example, placed in the storage space below the tooling platform 300 ), thereby reducing the space occupied by the structure of the shielding device itself, and can be flexibly applied to magnetically shield the strong magnetic control main part 100 in various environments.
  • the shielding device can be firmly installed on the tooling platform 300 without the support of the main control part 100 , so the stability of the strong magnetic control main part 100 itself is less required, so the shielding device has the advantage of strong applicability.
  • the docking action or separation action of the sub-shielding cover 410 is realized by means of the clamping part 420 and the mounting part 500, and the switching operation of the control main part 100 between the working state and the shielding state is realized, and the design of the present application is suitable for manual operation.
  • the shielding operation cost of the control main 100 is thus also reduced.
  • the sub-shielding cover 410 is installed on the tooling platform 300 in a sliding manner.
  • the clip 420 is a slider (not shown) arranged at the bottom of the sub-shielding cover 410, and the mounting part 500 is arranged on a slide rail (not shown) on the table of the tooling platform 300, through which the slider and the slide rail.
  • the sub-shield 410 includes: a shield body 411 and a shield frame 412 for installing the shield body 411 .
  • the shield frame 412 includes a shield slot X1 and a first frame post X2 and a second frame post X3 .
  • the shield body 411 is inserted into the shield groove X1, the first frame pillar X2 and the second frame pillar X3 fix the two shield grooves X1 and are respectively fixed on the two groove ends of the shield groove X1, so that the sub-shield 410
  • the shielding case 400 is cylindrical (such as a shoe shape or a semi-cylindrical shape) and the shielding case 400 forms a cylindrical body with closed sides after the two sub-shielding cases 410 are butted together.
  • two shielded The shield slots X1 are aligned along the axial direction of the shield case 410 , and the shield case main body 411 is fixedly disposed between the two shield case slots X1 .
  • the shield 410 includes two adjacent sub-shields 410, and the two adjacent sub-shields 410 are butted by the first frame pillar X2 and the second frame pillar X3.
  • the first frame pillar X2 and the second frame pillar X3 that butt each other, one is provided with the opening groove X21 and the first opening groove X21 that runs through the two sides of the opening groove X21.
  • the screw hole X22 is provided with a pin hole X31 on the other.
  • the shielding device further includes a handle 413, which is rotatably installed in the opening slot X21 by means of a screw X8 penetrating through the first screw hole X22, and the free end of the handle 413 is formed as a holding portion X5.
  • the handle 413 further includes a bayonet portion X6 , and the bayonet portion X6 protrudes toward the pin position hole X31 when the handle 413 is installed in the opening slot X21 .
  • one first frame pillar X2 and one second frame pillar X3 can be used to fix two adjacent sub-shields 410, or two first pillar frames X2 or two second pillar frames can also be used X3 fixes two adjacent sub-shields 410 . It should be noted that, when fixing two adjacent sub-shields 410 , it is necessary to ensure that the pin hole X31 on one side of the sub-shield 410 can fit into the bayonet portion X6 of the handle 413 on the other side of the sub-shield 410 .
  • the control main part 100 is in a shielded state for description, at this time the handle 413 is installed in the opening slot X21 and the bayonet part X6 is inserted into the pin hole X31.
  • the bayonet part X6 and the holding part X5 can both be linear and perpendicular to each other to form an L-shaped structure, and the end of the bayonet part X6 not connected to the holding part X5 protrudes toward the pin hole X31.
  • a supporting portion parallel to the holding portion X5 but extending in the opposite direction may be vertically provided in the middle of the bayonet portion X6, and a second screw hole X7 is provided at the end of the supporting portion not connected to the bayonet portion X6.
  • the form of the handle 413 can be various, for example, the handle X5 is arc-shaped, and the angle between the support part and the handle X5 It is an obtuse angle, etc., and the embodiments of the present application are not limited to this, as long as it can help the unlocking of the separating sub-shielding cover 410, and when the control main part 100 is in the shielding state, it can help the sub-shielding cover 410 to be positioned and prevent the sub-shielding cover 410 from being separated. effect.
  • the supporting part is inserted into the opening groove X21 so that the second screw hole X7 is aligned with the first screw hole X22, and then installed in the opening groove X21 through the screw X8, and then the bayonet part X6 is pushed in through the holding part X5.
  • the pin hole X31 serves as a positioning function, so that two adjacent sub-shields 410 can be more closely grounded. During the separation process of two adjacent sub-shields 410 , the bayonet part X6 is pulled out from the pin position hole X31 by rotating the holding part X5 .
  • the end of the supporting part that is not connected to the bayonet part X6 is against the frame pillar provided with the pin hole X31, and as the handle 413 rotates, the end gradually moves toward it through its own size and shape changes.
  • the joined frame pillars that is, the frame pillars provided with the pin holes X31 ) apply a force to separate the two adjacent sub-shields 410 .
  • the two adjacent sub-shields 410 The principle of labor-saving lever is also used in the separation process, so that it is more convenient to manually separate the shielding cover 400 .
  • the shielding device further includes a shield support member (not shown) for supporting the sub-shield 410 during the rotation of the sub-shield 410 .
  • the shield support member may be a buffer member, one end of which is connected to the tooling platform 300 , and the other end is connected to the sub-shield 410 .
  • one end of the shield support is hinged to the tooling platform 300, and the other end is hinged to the shield frame 412.
  • the shield support member is a retractable spring rod or a gas spring rod or the like. Since the control main part 100 suspended on the bracket 200 has a relatively large weight, and the movement process into the shield 400 is relatively long, slight shaking may also cause the control main part 100 to easily contact the shield 400 and affect the effect of magnetic shielding. Therefore, the shielding device in this application needs to restrict the movement of the control main part 100 .
  • the shielding device further includes a limiting structure 600, and the limiting structure 600 is used to limit the movement of the main control part 100 supported by the bracket 200, so as to ensure that the main control part 100 is not affected by the shielding cover 400 And remain static.
  • the optional structure of the above-mentioned limiting structure 600 is introduced in detail below:
  • the bracket 200 is a mechanical arm
  • the position-limiting structure 600 includes a clamping part 602 and a support frame 601 supporting the clamping part 602 .
  • the clamping part 602 is fixed on the top of the supporting frame 601 , and the clamping part 602 is used to clamp the mechanical arm to limit the movement of the control main part 100 .
  • the clamping component 602 is mainly used to limit the movement of the main control part 100 on a plane parallel to the tooling platform 300 .
  • the clamping part 602 can also prevent the main control part 100 from descending, that is, the clamping part 602 also supports the main control part 100 and plays a role of restricting the main control part 100 from falling. Therefore, the clamping part 602 plays a reinforcing role in controlling the static state of the main part 100 as a whole.
  • the limit structure 600 also includes a groove lifter 603, the bottom of the support frame 601 can be connected to the groove lifter 603 to control the lifting through the groove lifter 603, and then the clamping part 602 can be realized by means of the groove lifter 603 and the support frame 601
  • the main part 100 remains in a static state without being affected (for example, reducing the influence of the attraction force of the shield 400 on the control main part 100 , etc.).
  • the above-mentioned mechanical arm may specifically include a first sub-arm 201 and a second sub-arm 202 that are rotatably connected to each other, and the clamping component 602 is provided as a groove, wherein the groove is used to embed the second sub-arm 202, And after the second sub-arm 202 is embedded in the groove, the projections of the first sub-arm 201 and the second sub-arm 202 on the target plane are two straight lines with a fixed angle, and the target plane is the plane where the groove bottom of the groove is located; and, During the rotation of one sub-arm 201, there is only one position where the second sub-arm 202 fits into the groove.
  • the robotic arm further includes an intermediate joint 203 disposed between the end of the first sub-arm 201 and the beginning of the second sub-arm 202 and a starting joint 204 disposed at the beginning of the first sub-arm 201 .
  • the initial joint 204 is used for rotating the first sub-arm 201 to realize the relative rotation of the whole mechanical arm
  • the intermediate joint 203 is used for realizing the rotation of the first sub-arm 201 relative to the second sub-arm 202 .
  • the target plane is an xy plane
  • the second mechanical arm 202 rotates around the axis L1 (axis L1 is along the x-axis direction), then the first sub-arm 201 and the second sub-arm 202 are on the target plane.
  • the projection is two straight lines with a fixed angle.
  • the first sub-arm 201 rotates around the axis L2 (the axis L2 is along the z-axis direction)
  • the first sub-arm 201 rotates around the axis L2
  • the first sub-arm 201 rotates around the axis L2
  • the first sub-arm 201 controls the orientation of the magnet 102 in the xy plane.
  • the second sub-arm 202 rotates around the axis L1, so that the end of the second sub-arm 202 close to the magnet 102 rotates up and down, thereby controlling the height of the magnet 102 along the z-axis direction.
  • the above azimuth relationship between the groove and the robot arm effectively prevents the movement of the robot arm joint due to the attractive force of the magnet 102 on the shield 400 .
  • the above-mentioned azimuth relationship between the groove and the mechanical arm is combined with the height-adjustable groove, which can more effectively limit the movement of the mechanical arm due to the attraction of the shield 400 to the magnet 12, thereby further ensuring the control of the main part 100.
  • control main part 100 is suspended under the clamping of two or more mechanical arms, the mechanical arms include, for example, a driving arm and a balance arm, etc., but the working principle of the shielding device is the same , which will not be repeated here.
  • the limit structure 600 includes a plurality of protective slides 604, and the protective slides 604 are arranged on the table top of the working platform 300 (the side facing the control main part 100); the protective slides 604 are located in the erect state Between the installation part 500 and the placement position of the control main part 100 and a plurality of protection slide plates 604 are arranged around the placement position of the control main part 100, so that the protection slide plates 604 ensure that the control main part 100 and the shielding cover 400 installed on the installation part 500 are separated On the other hand, the combination of multiple protection slides 604 also restricts the movement of the control main part 100 .
  • a plurality of protective slides 604 are arranged around the placement position of the control main part 100, which can Therefore, they are arranged at equal intervals on a circle.
  • a bearing platform 607 is provided on the tooling platform 300, and the bearing platform 607 is used to place the main control part 100, and the protective slide 604 can be located between the mounting part 500 and the bearing platform 607 in the standing state. at the position of the dotted line between them.
  • the embodiment of the present application does not further limit the specific shape of the carrying platform 607.
  • the size of the carrying platform 607 can be smaller than the control main part 100, so that the bottom part of the control main part 100 is fitted on the carrying platform 607 , as shown in FIG.
  • the size of the carrying platform 607 can be larger than the control main part 100, so that all of the bottom of the control main part 100 fits on the carrying platform 607, as shown in FIG. 7 .
  • the carrying platform 607 may also adopt other forms, which will not be repeated here.
  • a sliding plate groove 605 is provided on the table surface of the working platform 300 , and the protective sliding plate 604 is installed in the groove of the sliding plate groove 605 in a manner of rotating around its bottom.
  • the protection slide plate 604 is erected in the slide plate groove 605, and when the control main part 100 is in the non-magnetic shielding state, the protection slide plate 604 is embedded (laid) in the slide plate groove within 605.
  • the tooling platform 300 also includes a lock structure (not shown), the lock structure includes a lock button 606, and the lock structure is used to control the protection slide 604 to be in a locked state in the slide groove 605 through the lock button 606 or unlocked status.
  • the protection slide 604 is in a locked state in the slide groove 605 , that is, the protection slide 604 maintains an upright state in the slide groove 605 , which corresponds to the magnetic shielding state of the control main part 100 .
  • the protection slide 604 is in an unlocked state in the slide groove 605 , that is, the protection slide 604 remains embedded (lying) in the slide groove 605 , which corresponds to the non-magnetic shielding state of the control main part 100 .
  • the present application does not specifically limit the number and arrangement of the multiple protection slides 604, as long as the multiple protection slides 604 can move or rotate relative to the tooling platform 300 and can ensure that they can realize the function of limiting and isolating function.
  • the protection slide plate 604 is arranged at the groove end of the slide plate groove 605 , that is, the protection slide plate 604 is arranged at the groove end of the slide plate groove 605 close to the edge of the table top of the tooling platform 300 .
  • the magnet 101 is a magnetic ball
  • the main part casing 102 is at least partially cylindrical
  • the height of the protective slide 604 can be the radius of the above-mentioned magnetic ball as the lower limit.
  • the maximum included angle with the table top of the tooling platform 300 is set within a range of 90° to 95°.
  • the protective sliding plate 604 can not only better isolate the inner wall of the shielding cover 400 from the main part shell 102 , but also avoid direct contact between the inner wall of the shielding cover 400 and the main part shell 102 .
  • the protective sliding plate 604 makes a space between the shielding case 400 and the main control part 100 , the shielding case 400 can be installed or disassembled smoothly against the attractive force of the magnet 101 .
  • the above-mentioned locking structure may specifically adopt an existing structure.
  • the protective slide 604 is in the shape of a cuboid.
  • Each protective slide 604 surrounds the rotating shaft inside the bottom.
  • a 1 A 2 rotates
  • the locking structure includes a spring and the above-mentioned locking button 606, and the two opposite protective slides 604 on the slide groove 605 are connected to each other through the connection spring between the outer rotating shafts B 1 B 2 .
  • the end of the protective sliding plate 604 adjoining the sliding plate groove 605 is formed with a rounded corner or an arc surface, so that the protective sliding plate 604 can flexibly rotate in the sliding plate groove 605 .
  • the protection slide plate 604 is embedded (or laid) in the slide plate groove 605 as an example for illustration, in the end of the protection slide plate 604 docked with the slide plate groove 605, the side close to the table surface of the tooling platform 300 is formed as Right angle, the side near the groove bottom of the sliding plate groove 605 is formed as a rounded corner or an arc surface.
  • the arrangement of the sliding plate groove 605 and the locking structure enables the protective sliding plate 604 to flexibly switch between the locked state and the unlocked state according to whether the control main part 100 is in the shielding state, that is, the flexible switching between the locked state and the unlocked state
  • the limiting structure 600 includes a bearing platform 607 for bearing the main control part 100 , thus, a plurality of installation parts 500 are arranged around the bearing platform 607 .
  • the carrying platform 607 is fixed on the table top of the tooling platform 300
  • the control main part 100 includes a magnet 101
  • the magnet 101 is encapsulated by the main part casing 102, wherein the table top of the tooling platform 300 (the side facing the main part casing 102) and One end of the main part housing 102 close to the tooling platform 300 is in a shape that fits with each other.
  • the carrying platform 607 hinders the movement of the main part casing 102 , so that the control main part 100 is more stably carried on the tooling platform 300 .
  • the bottom surface of the main component housing 102 can be selected as hemispherical, and the table top of the bearing platform 607 is also selected as hemispherical, so that the bottom surface of the main component housing 102 can be embedded in the platform of the bearing platform 607 .
  • the table surface of the carrying platform 607 may be a continuous structure or a discontinuous structure, as long as it is in a shape that fits with the bottom surface of the main component housing 102 .
  • the table top of the carrying platform 607 may be hemispherical with a hollowed out part, etc.
  • any of the above optional structures of the limiting structure 600 can be selected if the actual situation allows. Further, the above-mentioned multiple optional structures of the limiting structure 600 can be used in combination if the actual situation allows, for example, the first limiting structure 600 and the third limiting structure 600 are used in combination as shown in FIG. 7 . It is worth mentioning that, in some embodiments in which multiple limiting structures 600 are combined, the positions of the carrying platform 607 and the sliding plate groove 605 on the table of the tooling platform 300 need to be staggered. It should be noted that, in order to ensure the effect of magnetic shielding, the limiting structures 600 in the embodiment of the present application are all made of non-ferromagnetic materials.
  • the shielding device in order to further enhance the shielding effect of the shielding device on the control main part 100, the shielding device further includes a shielding plate (not shown), and the shielding plate is connected to the end of the shielding case 400 , form a closed cavity with the shielding case 400, and the control main part 100 is accommodated in the closed cavity.
  • the tooling platform 300 (at least including the corresponding part below the shielding cover 400 ) is formed as a shielding plate.
  • the second embodiment of the present application also provides a magnetically controlled capsule endoscope system (not shown), the magnetically controlled capsule endoscope system includes: The shielding device, the strong magnetic control main part 100, the bracket 200 supporting the control main part 100 and the tooling platform 300 for installing the bracket 200, wherein the bracket 200 supports the control main part 100 to move, the shielding in the shielding device
  • the cover 400 is used to shield the control main part 100 supported by the bracket 200, so that the control main part 100 avoids adverse effects on the surrounding magnetic sensitive elements, and the magnetically controlled capsule endoscope system can control the main control part 100. and switching operation of shielded state.

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Abstract

屏蔽装置及磁控胶囊内窥镜系统，屏蔽装置用于屏蔽强磁性的控制主件（100），屏蔽装置包括：工装平台（300），控制主件（100）在支架（200）的支撑下置于工装平台（300）上；屏蔽罩（400），屏蔽罩（400）由至少两个接合在一起的子屏蔽罩（410）组成，且子屏蔽罩（410）的侧壁与工装平台（300）连接的一端设有卡件（420）；一个或多个安装件（500），安装件（500）固设在工装平台（300）的台面上，且安装件（500）围绕控制主件（100）的放置位置设置；卡件（420）连接安装件（500）使屏蔽罩（400）可拆装地安装于工装平台（300）以实现子屏蔽罩（410）之间的对接动作或分离动作。通过设置的屏蔽装置使得控制主件（100）的磁场得到有效屏蔽。

Description

屏蔽装置及磁控胶囊内窥镜系统
本申请要求了申请日为2022年01月27日、申请号为202210097910.0、名称为“屏蔽装置及磁控胶囊内窥镜系统”的中国发明申请的优先权，并且通过参照上述中国发明申请的全部说明书、权利要求、附图和摘要的方式，将其引用于本申请。
技术领域
本发明涉及医疗器械技术领域，更具体地，涉及一种屏蔽装置及磁控胶囊内窥镜系统。
背景技术
在现有技术中，磁控胶囊内窥镜系统包括胶囊内窥镜以及磁控系统，通过磁控系统的控制主件能够对胶囊内窥镜的运动方式、运动路径以及姿态角等进行控制。在具体使用中，磁控系统的控制主件移动到其工作区域，或受检者进入到磁控系统的控制主件的工作区域，之后在该工作区域控制胶囊内窥镜在消化道内进行移动从而拍摄到消化道图像。
其中，用于控制胶囊内窥镜的磁控系统的控制主件是一个由钕铁硼材料制成的强磁体。该强磁体规格较大，表磁磁场强度可达850mT以上，因而对铁磁性物品或含铁磁性零件的物品有很强的磁力作用。基于此，控制主件处于无屏蔽状态时，若静置则会由于其静置环境缺乏屏蔽装置而使得附近的磁敏感设备受到影响，因而磁敏感设备无法正常工作。上述的磁敏感设备包括人体植入类医疗元件和其它一些电子元件等。此外，在控制主件的移动过程中，由于移动环境非可屏蔽磁场的特定环境，因此会对周围铁磁性物品或设备等造成影响、甚至导致损坏。而在现有技术中，主要通过将磁控系统设置于单独的房间内，从而在磁控系统周围形成安全范围，阻止磁敏感设备进入该安全范围，从而确保磁控系统的 使用安全。
由于磁控系统具有强磁场的控制主件，因此该磁控系统(至少包括强磁性的控制主件)需要被有效屏蔽，以防止控制主件在移动和存放的过程中对其他磁敏感设备等造成损坏。
发明内容
为了解决强磁性的控制主件因强磁引力对外界造成的干扰问题，本申请提供一种屏蔽装置及磁控胶囊内窥镜系统，能够使得磁控胶囊内窥镜系统内的控制主件的磁场得到有效屏蔽，并对控制主件的工作状态和屏蔽状态提供能快速切换操作的硬件基础。
根据本申请的第一方面，提供了
一种屏蔽装置，用于屏蔽强磁性的控制主件所述屏蔽装置包括：
工装平台，所述控制主件在支架的支撑下置于所述工装平台上；
屏蔽罩，所述屏蔽罩由至少两个接合在一起的子屏蔽罩组成，且所述子屏蔽罩的侧壁与所述工装平台连接的一端设有卡件；
一个或多个安装件，所述安装件固设在所述工装平台的台面上，且所述安装件围绕所述控制主件的放置位置设置；
其中，所述卡件连接所述安装件使所述屏蔽罩可拆装地安装于所述工装平台以实现所述子屏蔽罩之间的对接动作或分离动作。
可选地，所述子屏蔽罩包括：屏蔽罩主体和安装所述屏蔽罩主体的屏蔽罩框架，其中，
所述屏蔽罩框架包括屏蔽罩槽以及第一框架支柱和第二框架支柱；
以及，所述屏蔽罩主体插入设置于所述屏蔽罩槽，所述第一框架支柱和所述第二框架支柱固定所述屏蔽罩槽，且分别固定在所述屏蔽罩槽的两个槽端。
可选地，所述屏蔽罩包括两个相邻的子屏蔽罩；
所述相邻的两个子屏蔽罩通过所述第一框架支柱和所述第二框架支柱对接，其中，在相对接的所述第一框架支柱和所述第二框架支柱中，一者上设有开口槽，另一者上设有销位孔；
所述屏蔽装置还包括拉手，所述拉手安装于所述开口槽内；
所述开口槽还设有第一螺孔，所述拉手借助贯穿所述第一螺孔的螺纹件可转动地安装于所述开口槽内，并且所述拉手的自由端形成把持部；
所述拉手还包括卡销部，所述卡销部在所述拉手安装于所述开口槽的情况下向所述销位孔突起。
可选地，所述卡件包括转轴，所述转轴设置于所述屏蔽罩槽；
所述安装件为转轴卡槽，通过所述转轴与所述转轴卡槽之间的配合所述子屏蔽罩可转动地安装于所述工装平台。
可选地，所述屏蔽装置还包括限位结构，所述限位结构与所述控制主件和/或所述支架接触，用于对所述支架支撑的所述控制主件进行移动限制。
可选地，所述支架为机械臂，所述限位结构包括支撑架和夹紧部件；
所述支撑架用于支撑所述夹紧部件；
所述夹紧部件固设于所述支撑架的顶部，且所述夹紧部件用于夹持所述机械臂以限制所述控制主件的移动。
可选地，所述机械臂包括转动连接的第一子臂和第二子臂，所述夹紧部件为凹槽；
所述凹槽用于嵌入所述第二子臂，当所述第二子臂嵌入所述凹槽后所述第一子臂和所述第二子臂在目标平面的投影为夹角固定的两条直线，所述目标平面为所述凹槽的槽底所在平面；
以及，在所述第一子臂旋转的过程中，只有一个位置使所述第二子臂嵌入所述凹槽。
可选地，所述限位结构包括多个保护滑板；
所述保护滑板设置在所述工装平台的台面上；
所述保护滑板在立设状态位于所述安装件和所述控制主件的放置位置之间，并且多个所述保护滑板围绕所述控制主件的放置位置设置。
可选地，所述工装平台的台面上设有滑板槽，所述保护滑板以围绕其底部旋转的方式安装于所述滑板槽的槽内，其中，所述保护滑板在磁屏蔽状态下立设于所述滑板槽内，在非磁屏蔽状态下嵌设于所述滑板槽 内；
所述工装平台还包括锁定结构，所述锁定结构包括锁定按钮，所述锁定结构用于通过所述锁定按钮控制所述保护滑板在所述滑板槽内处于锁定状态或解锁状态。
可选地，所述限位结构包括承载台，所述承载台固设在所述工装平台的台面上以用于承载所述控制主件；
所述控制主件包括磁体，所述磁体通过主件外壳封装；
其中，所述承载台的台面和所述主件外壳的靠近所述承载台的一端为相互嵌合的形状。
根据本申请的第二方法，提供了一种磁控胶囊内窥镜系统，包括：
上述任一种屏蔽装置、强磁性的控制主件、支撑所述控制主件的支架以及用于安装所述支架的工装平台；
其中，所述支架支撑着所述控制主件进行移动，所述屏蔽装置的屏蔽罩用于对所述支架支撑的所述控制主件进行屏蔽。
本申请提供的屏蔽装置，用于屏蔽强磁性的控制主件，控制主件在支架的支撑下置于工装平台上，屏蔽装置包括屏蔽罩和固设在工装平台台面上的一个或多个安装件，其中，安装件围绕控制主件的放置位置设置，屏蔽罩由至少两个接合在一起的子屏蔽罩组成，且子屏蔽罩的侧壁与工装平台连接的一端设有卡件，卡件连接安装件以实现子屏蔽罩的对接动作或分离动作，从而通过子屏蔽罩之间对接运动和分离运动使得控制主件或被屏蔽罩包裹或暴露在屏蔽罩以外，既能有效屏蔽控制主件的强磁又对控制主件在工作状态和屏蔽状态之间的切换操作提供了硬件基础。此外，本申请通过限位结构对控制主件起到支撑和运动限位的效果，防止控制主件与屏蔽罩接触，确保了屏蔽效果。
附图说明
通过以下参照附图对本申请实施例的描述，本申请的上述以及其他目的、特征和优点将更为清楚。
图1示出本申请屏蔽装置的一种主视示意图；
图2示出图1所示屏蔽装置的分解示意图；
图3示出控制主件受支架支撑的情景示意图；
图4示出本申请屏蔽装置中子屏蔽罩的分解示意图；
图5示出本申请屏蔽装置中框架支柱的结构示意图；
图6示出本申请中机械臂的结构示意图；
图7示出本申请中一种限位结构的结构示意图；
图8示出本申请中另一种限位结构的结构示意图；
图9示出图8所示限位结构中保护滑板的结构示意图。
具体实施方式
以下将参照附图更详细地描述本申请。在各个附图中，相同的元件采用类似的附图标记来表示。为了清楚起见，附图中的各个部分没有按比例绘制。此外，在图中可能未示出某些公知的部分。
在下文中描述了本申请的许多特定的细节，例如器件的结构、材料、尺寸、处理工艺和技术，以便更清楚地理解本申请。但正如本领域的技术人员能够理解的那样，可以不按照这些特定的细节来实现本申请。
本申请第一实施例提供了一种屏蔽装置，该屏蔽装置安装于工装平台上，用于屏蔽强磁性的控制主件。参照图1，控制主件100在支架200的支撑下置于工装平台300上，屏蔽装置包括屏蔽罩400和安装件500。图2所示为屏蔽装置的分解示意图，参照图2，屏蔽罩400由至少两个接合在一起的子屏蔽罩410组成，且子屏蔽罩410的侧壁与工装平台300连接的一端设有卡件420，屏蔽罩410通过卡件420和安装件500可拆装地安装于工装平台300。安装件500固设在工装平台300上，且安装件500围绕控制主件100的放置位置设置，卡件420连接安装件500以实现子屏蔽罩410的对接动作或分离动作。
具体地，上述工装平台300可以采用可动式结构，即工装平台300能够移动；上述工装平台300还可以采用固定式结构，即工装平台300固定在地面上。对于固定式的工装平台300来说，例如可以采用地面充当，此情况下安装件500是直接固设在地面上。其中，安装件500固设 在工装平台300的方式可以是多样的，例如包括通过螺纹配合安装、榫接配合或铆接配合等等，只要能够保证两者之间的连接强度即可。
上述控制主件100，如图3所示，可通过主件外壳102封装磁体101来构建，主件外壳102对磁体101起到保护等作用。并且，主件外壳102可通过刚性连接件103(例如十字横梁等)固定在支架200上，而磁体101自身运动通过电机组件(例如包括水平旋转电机和竖直旋转电机等)进行控制。此处，磁体101的材料可以为钕磁体等磁性材料，磁体101的形状可以为球状等。需要强调的是，本申请对于磁体101的具体形状不做限定，只要能够实现对胶囊内窥镜的控制即可。
上述屏蔽罩400可以形成为多层结构。优选地，屏蔽罩400整体上呈单层圆筒形状，长径比设为1:1～1.1:1，从而节约空间，使得安装相对简单，且适应设备的小型化及移动性需求。
需要说明的是，控制主件100在支架200的支撑下而随支架200移动。其中，支架200不再移动而使控制主件100相对静置并且屏蔽罩400环绕控制主件100时，控制主件100的强磁场被屏蔽罩400屏蔽，这时控制主件100处于磁屏蔽状态。当子屏蔽罩410分离而使屏蔽罩400撤离控制主件100周围时，控制主件100处于非屏蔽状态，此情况下控制主件100的强磁场能够被用来控制胶囊内窥镜的移动，因而控制主件100亦可被称为处于工作状态。对于处于相对静置状态的控制主件100来说，控制主件100的磁场属于静磁场。屏蔽罩400对控制主件100周围较强静磁场进行屏蔽的原理为：利用低矫顽力、高磁导率和高饱和磁感应强度的材料包围控制主件100，为控制主件100周围的磁场建立磁场通路，从而达到磁场屏蔽效果。
上述卡件420可以如图2所示为转轴，安装件500可以如图2所示为转轴卡槽。在本申请的其他实施例中，卡件420为转轴卡槽，安装件500为转轴。本申请的实施例不对转轴以及转轴卡槽的具体形式进一步限定，例如转轴可以是球铰链，转轴卡槽可以是铰链支座等，只要能够实现子屏蔽罩410与工装平台300之间的相对转动即可。
应当理解的是，卡件420和安装件500是子屏蔽罩410对接或分离 的旋转支点，确保子屏蔽罩410的姿态稳定，具有降低受力以保证子屏蔽罩410对接安全的作用。
需要说明的是，各子屏蔽罩410上安装至少一个卡件420，即，卡件420可以和子屏蔽罩410的数目相等，卡件420的数目也可以大于子屏蔽罩410的数目。此外，各卡件420对应至少一个安装件500，即，安装件500可以和卡件420的数目相等，安装件500的数目也可以大于卡件420，以满足多样的安装需求。
本申请实施例中，屏蔽罩400可拆装地安装于工装平台300上，在无需屏蔽磁场时，屏蔽罩400可以从工装平台300上卸下并收纳(例如放置于工装平台300下方的储存空间)，从而减小屏蔽装置的自身结构占用的空间，可灵活地应用在多种环境中对强磁控制主件100进行磁屏蔽。而且，屏蔽装置能够牢固地安装在工装平台300上，无需控制主件100支撑，因而也对强磁控制主件100自身的稳定性要求较低，这样屏蔽装置具有适用性强的优点。此外，凭借卡件420和安装件500实现子屏蔽罩410的对接动作或分离动作，实现了控制主件100在工作状态和屏蔽状态之间的切换操作，并且本申请的设计适用于手动操作，因而还降低了控制主件100的屏蔽操作成本。
可以理解地，在本申请的其他实施例中，子屏蔽罩410通过滑动的方式安装于工装平台300。具体地，卡件420为设置于子屏蔽罩410底端的滑块(未图示)，安装件500位设置于工装平台300的台面上的滑轨(未图示)，通过滑块与滑轨之间的滑动配合，能够实现子屏蔽罩410之间的接合与分离。
进一步地，参照图4所示，子屏蔽罩410包括：屏蔽罩主体411和安装屏蔽罩主体411的屏蔽罩框架412。屏蔽罩框架412包括屏蔽罩槽X1以及第一框架支柱X2和第二框架支柱X3。屏蔽罩主体411插入设置于屏蔽罩槽X1，第一框架支柱X2和第二框架支柱X3固定两个屏蔽罩槽X1且分别固定在屏蔽罩槽X1的两个槽端，从而子屏蔽罩410均呈柱面状(例如瓦型或半圆柱面等形状)且在两个子屏蔽罩410对接后屏蔽罩400形成一个侧边封闭的筒状体。在一个具体实施例中，两个屏蔽 罩槽X1沿屏蔽罩410的轴向对齐设置，且屏蔽罩主体411固定设置于两个屏蔽罩槽X1之间。
在一个可选的实施例中，屏蔽罩410包括两个相邻的子屏蔽罩410，该相邻的两个子屏蔽罩410通过第一框架支柱X2和第二框架支柱X3对接。参照图5中(a)图和(b)图，在相对接的第一框架支柱X2和第二框架支柱X3中，一者上设有开口槽X21和贯穿开口槽X21两槽边的第一螺孔X22，另一者上设有销位孔X31。结合图2和图4，屏蔽装置还包括拉手413，拉手413借助贯穿第一螺孔X22的螺纹件X8可转动地安装于开口槽X21内，拉手413的自由端形成为把持部X5。拉手413还包括卡销部X6，卡销部X6在拉手413安装于开口槽X21的情况下向销位孔X31突起。当磁控主件100处于屏蔽状态时，相邻两个子屏蔽罩410对接组合以形成完整的屏蔽罩400，此时拉手413的卡销部X6插入销位孔X31中。在本申请的实施例中，可用一个第一框架支柱X2和一个第二框架支柱X3进行两相邻子屏蔽罩410的固定，也可以用两个第一支柱框架X2或两个第二支柱框架X3进行两相邻子屏蔽罩410的固定。需要说明的是，当固定两相邻子屏蔽罩410时，需要确保一侧子屏蔽罩410上的销位孔X31能与另一侧子屏蔽罩410上拉手413的卡销部X6嵌合。
具体地，结合图2、图4和图5所示，以控制主件100处于屏蔽状态进行说明，此时拉手413安装于开口槽X21中且卡销部X6插入销位孔X31内。上述卡销部X6和把持部X5可以皆呈直线型且二者相互垂直而形成L型结构，卡销部X6未和把持部X5连接的一端向销位孔X31突起。进一步地，卡销部X6的中间部位可以垂直设置一个和把持部X5平行但延伸方向相反的支持部，支持部未和卡销部X6连接的一端设置第二螺孔X7。如此，支持部嵌入开口槽X21时把持部X5卡设在开口槽X21外，并且第二螺孔X7和第一螺孔X22对齐后通过螺纹件X8固定，从而拉手413借助螺纹件X8可转动地安装于开口槽X21内且把持部X5用于转动拉手413。需要说明的是，图4中把持部X5、卡销部X6和支持部三者之间采用不同种类的填充以示区别，这并不表示这三部分的材 料不同，也不表示拉手413制作时必须由三个独立部件组建，即，把持部X5、卡销部X6和支持部可以一体成型而形成上述拉手413。并且，上述拉手413的形式仅为本申请的实施例中示例性地表述，在实际中拉手413的形式可以是多样的，例如把持部X5为弧形、支持部与把持部X5之间的角度为钝角等，本申请的实施例对此不作限定，只要能够帮助分离子屏蔽罩410解除锁定，并且在控制主件100处于屏蔽状态时实现其帮助子屏蔽罩410定位而防止子屏蔽罩410分离的效果即可。
本申请实施例中，支持部插入开口槽X21内以使得第二螺孔X7和第一螺孔X22对齐后通过螺纹件X8安装于开口槽X21，然后通过把持部X5将卡销部X6推入销位孔X31以起到定位作用，从而相邻两个子屏蔽罩410能够对接地更加紧密。在相邻两个子屏蔽罩410分离的过程中，通过转动把持部X5将卡销部X6从销位孔X31拔出。在此过程中，支持部未和卡销部X6连接的一端部抵住设有销位孔X31的框架支柱，并且随着拉手413的转动，该端部通过自身尺寸、形状变化等逐渐向与其接合的框架支柱(即设置销位孔X31的框架支柱)施加使相邻两子屏蔽罩410分离的作用力。并且，在该拉手结构中，若支持部未和卡销部X6连接的一端与第二螺孔X7的距离小于卡销部X6到第二螺孔X7的距离，则相邻两个子屏蔽罩410分离的过程中还借助了省力杠杆的原理，从而更便于手动分离屏蔽罩400。
值得一提的是，在本申请的其他实施例中，屏蔽装置还包括屏蔽罩支持件(未图示)，用于在子屏蔽罩410旋转过程中支撑子屏蔽罩410。屏蔽罩支持件可以为缓冲件，其一端设置连接于工装平台300，另一端连接于子屏蔽罩410。具体地，该屏蔽罩支持件一端铰接于工装平台300，另一端铰接于屏蔽罩框架412，当子屏蔽罩410相互分离时，随着子屏蔽罩410的分离，屏蔽罩支持件提供的支持力逐渐增加。优选地，屏蔽罩支持件为可伸缩的弹簧杆或气弹簧杆等。由于悬挂于支架200的控制主件100的重量较大，且运动进入屏蔽罩400的运动进程较长，轻微的晃动也可能造成控制主件100容易与屏蔽罩400接触而影响磁屏蔽的效果，因此本申请中的屏蔽装置需要对控制主件100的移动进行限制。在 另一个可选的实施例中，屏蔽装置还包括限位结构600，限位结构600用于对支架200支撑的控制主件100进行移动限制，从而确保控制主件100能够不受屏蔽罩400影响而保持静置状态。下面对上述限位结构600的可选结构进行详细介绍：
(一)限位结构600的第一种可选结构
结合图6和图7所示，支架200为机械臂，限位结构600包括夹紧部件602和支撑夹紧部件602的支撑架601。其中，夹紧部件602固设于支撑架601的顶部，且夹紧部件602用于夹持机械臂以限制控制主件100的移动。
需要说明的是，夹紧部件602的高度及角度等固定后，夹紧部件602主要用于对控制主件100在与工装平台300平行的平面上的移动进行限制。同时，夹紧部件602还可使得控制主件100无法下降，即夹紧部件602还支撑控制主件100而起到限制控制主件100降落的作用。因而，夹紧部件602在整体上对控制主件100的静置状态起到加固的作用。
进一步，限位结构600还包括凹槽升降机603，支撑架601可以是底部和凹槽升降机603连接以通过凹槽升降机603控制升降，进而夹紧部件602借助凹槽升降机603和支撑架601得以实现升起和降落的操作，从而夹紧部件602能够应对控制主件100的不同高度而对控制主件100起到支撑作用，即，夹紧部件602能够尽可能地和机械臂相结合来确保控制主件100不受影响地(例如减少屏蔽罩400对控制主件100的吸引力影响等)保持静置状态。
参照图6，上述机械臂具体可以包括相互转动连接的第一子臂201和第二子臂202，并且，夹紧部件602设置为凹槽，其中，凹槽用于嵌入第二子臂202，且第二子臂202嵌入凹槽后第一子臂201和第二子臂202在目标平面的投影为夹角固定的两条直线，目标平面为凹槽的槽底所在平面；以及，在第一子臂201旋转的过程中只有一个位置使第二子臂202嵌入凹槽。
可选地，机械臂还包括设置在第一子臂201末端与第二子臂202始端之间的中间关节203以及设置在第一子臂201始端的起始关节204。 其中，起始关节204用于供第一子臂201旋转以实现机械臂整体的相对转动，中间关节203用于实现第一子臂201相对于第二子臂202的转动。
举例来说，参见图6所示，目标平面为xy平面，第二机械臂202围绕轴L1(轴L1沿x轴方向)转动，则第一子臂201和第二子臂202在目标平面的投影为夹角固定的两条直线。继而，若夹紧部件602的凹槽的槽臂沿轴L3(轴L3沿y轴方向)方向设置，且第一子臂201围绕轴L2(轴L2沿z轴方向)转动，则第一子臂201转动带动第二子臂202也随之转动的过程中，第二子臂202只有一个位置是平行于y轴，且在该位置时第二子臂202可嵌套在凹槽内。并且，第一子臂201围绕轴L2转动，从而第一子臂201控制着磁体102在xy面内的方位。第二子臂202围绕轴L1转动，使第二子臂202靠近磁体102的一端上下转动，从而控制着磁体102沿z轴方向的高度。
本申请实施例中，凹槽与机械臂之间的上述方位关系有效防止了机械臂关节因磁体102对屏蔽罩400的引力而移动。并且，凹槽和机械臂之间的上述方位关系与高度可调节的凹槽相结合，能够更有效地限制机械臂因屏蔽罩400对磁体12引力而引起的移动，从而进一步确保控制主件100静置状态的持续保持。
在本申请的其他实施例中，控制主件100在两个或两个以上机械臂的夹持下实现悬挂，该机械臂例如包括驱动臂和平衡臂等，但屏蔽装置的工作原理是相同的，在此不再赘述。
(二)限位结构600的第二种可选结构
参见图7和图8所示，限位结构600包括多个保护滑板604，保护滑板604设置于工作平台300的台面(朝向控制主件100的一面)上；保护滑板604在立设状态下位于安装件500和控制主件100的放置位置之间并且多个保护滑板604围绕控制主件100的放置位置设置，这样保护滑板604确保控制主件100和安装在安装件500上的屏蔽罩400隔开，多个保护滑板604相结合还对控制主件100的移动起到了限制作用。
具体地，多个保护滑板604围绕控制主件100的放置位置设置，可 以是等间隔地设置在一个圆圈上。示例性地，如图7所示，工装平台300上设置有承载台607，承载台607用于放置控制主件100，则保护滑板604在立设状态下可以位于安装件500和承载台607之间的虚线位置上。需要说明的是，本申请的实施例不对承载台607的具体形状进一步限定，例如，承载台607的尺寸可以小于控制主件100，使控制主件100的底部的部分嵌合于承载台607上，如图1所示；例如，承载台607的尺寸可以大于控制主件100，使控制主件100的底部的全部嵌合于承载台607上，如图7所示。在其他实施例中，承载台607还可以采用其他形式，在此不再赘述。
参见图8所示，在一个可选的实施例中，工作平台300的台面上设有滑板槽605，保护滑板604以围绕其底部旋转的方式安装于滑板槽605的槽内。其中，在控制主件100处于磁屏蔽状态的情况下保护滑板604立设于滑板槽605内，在控制主件100处于非磁屏蔽状态的情况下保护滑板604嵌设(躺设)于滑板槽605内。为了对保护滑板604的状态进行切换，工装平台300还包括锁定结构(未图示)，锁定结构包括锁定按钮606，锁定结构用于通过锁定按钮606控制保护滑板604在滑板槽605内处于锁定状态或解锁状态。
需要说明的是，保护滑板604在滑板槽605内处于锁定状态，即保护滑板604在滑板槽605内保持立设状态，这与控制主件100的磁屏蔽状态相对应。保护滑板604在滑板槽605内处于解锁状态，即保护滑板604在滑板槽605内保持嵌设(躺设)状态，这与控制主件100的非磁屏蔽状态相对应。
需要强调的是，本申请对多个保护滑板604的数目和设置形式皆不作具体限定，只要多个保护滑板604实现相对于工装平台300台面的移动或转动并能够确保其实现限位功能和隔离功能即可。
示例性地，若如图8所示共有四个保护滑板604，则这四个保护滑板604可以如图8所示设置在“十”型滑板槽的槽端；若共有三个保护滑板604，则这三个保护滑板604可以设置在“Y”型滑板槽的槽端；若有八个保护滑板604，则这八个保护滑板604可以设置在“米”型滑板 槽的槽端。其中，保护滑板604设置于滑板槽605的槽端，即保护滑板604靠近工装平台300台面的边缘而设置在滑板槽605的槽端。
结合图1、图3和图8，上述控制主件100中，磁体101为磁球，主件外壳102至少部分呈柱形，保护滑板604的高度可以以上述磁球的半径为下限。并且，保护滑板604围绕其底部旋转的过程中，与工装平台300台面的最大夹角设置在90°到95°的范围内。在此范围内，保护滑板604不仅能够较好地隔绝屏蔽罩400内壁与主件外壳102，避免屏蔽罩400内壁与主件外壳102直接接触。而且由于保护滑板604使屏蔽罩400与控制主件100之间存在间隔，因此能够使得屏蔽罩400抵抗磁体101的吸引力而平稳地安装或拆分。
上述锁定结构，具体可以采用现有的结构。示例性地，参见图8和图9所示，保护滑板604呈长方体型，保护滑板604共有四个且分别设置在“十”型滑板槽的各槽端，各个保护滑板604围绕底部内侧的转轴A1A2转动，锁定结构包括弹簧和上述锁定按钮606，并且滑板槽605上相对的两个保护滑板604通过外侧的转轴B1B2之间连接弹簧来实现相互连接。这样，在相对的两个保护滑板604嵌设在滑板槽605的槽内时，上述弹簧处于自然伸长状态，因而保护滑板604嵌设到滑板槽605内时即可锁定该状态；但锁定按钮606按下时锁定按钮606按在弹簧上并将弹簧拉长，弹簧的恢复力拉动相连接的两个保护滑板604则使这两个保护滑板604弹起而直立。
值得一提的是，在其他实施例中，保护滑板604与滑板槽605对接的一端形成有圆角或形成为弧面，从而使得保护滑板604在滑板槽605内灵活地转动。更加优选地，以保护滑板604嵌设(或躺设)于滑板槽605内时为例进行说明，保护滑板604与滑板槽605对接的端部中，靠近工装平台300的台面的一侧形成为直角，靠近滑板槽605的槽底的一侧形成为圆角或弧面。
本申请实施例中，滑板槽605和锁定结构的设置使得保护滑板604能够根据控制主件100是否处于屏蔽状态而在锁定状态和解锁状态之间灵活切换，即对锁定状态和解锁状态的灵活切换提供了硬件基础，有利 于使得保护滑板604的设置状态和控制主件100状态切换保持一致性。
(三)限位结构300的第三种可选结构
如图1所示，限位结构600包括承载台607，承载台607用于承载控制主件100，因而，多个安装件500围绕承载台607设置。具体地，承载台607固设在工装平台300的台面上，控制主件100包括磁体101，磁体101通过主件外壳102封装，其中，工装平台300的台面(朝向主件外壳102的一面)和主件外壳102的靠近工装平台300的一端为相互嵌合的形状。该承载台607对主件外壳102的移动起到了阻碍作用，从而使得控制主件100较稳定地承载在工装平台300上。
具体地，主件外壳102的底面可以选为半球形，则承载台607的台面亦选为半球形，以便主件外壳102的底面嵌入承载台607的台面。
需要说明的是，承载台607的台面可以为连续结构，也可以为非连续结构，只要和主件外壳102的底面为相互嵌合的形状即可。例如，主件外壳102的底面为半球形，则承载台607的台面可以为具有镂空部分的半球形等。
对屏蔽装置来说，可以在实际情况允许的条件下选用限位结构600的上述任一种可选结构。进一步，限位结构600的上述多种可选结构可以在实际情况允许的条件下进行组合使用，例如图7中所示将第一种限位结构600和第三种限位结构600结合使用。值得一提的是，多种限位结构600相结合的一些实施例中，承载台607需与滑板槽605在工装平台300台面上的设置位置相互错开。需要说明的是，为了确保磁屏蔽的效果，在本申请实施例中的限位结构600均采用非铁磁性材料。
值得一提的是，在本申请的实施例中，为了进一步提升屏蔽装置对控制主件100的屏蔽效果，屏蔽装置还包括屏蔽板(未图示)，屏蔽板连接于屏蔽罩400的端部，与屏蔽罩400形成闭合空腔，控制主件100容纳于闭合空腔内。例如工装平台300(至少包括屏蔽罩400下方对应的部分)形成为屏蔽板。
针对本申请实施例所提供的屏蔽装置，本申请第二实施例还提供了一种磁控胶囊内窥镜系统(未图示)，该磁控胶囊内窥镜系统包括：第一实施例所述的屏蔽装置、强磁性的控制主件100、支撑控制主件100的支架200以及用于安装支架200的工装平台300，其中，支架200支撑着控制主件100进行移动，屏蔽装置中的屏蔽罩400用于对支架200支撑的控制主件100进行屏蔽，从而使得控制主件100避免对周围磁敏感元件造成不良影响，并且该磁控胶囊内窥镜系统能够对控制主件100进行工作状态和屏蔽状态的切换操作。
应当说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
依照本申请的实施例如上文所述，这些实施例并没有详尽叙述所有的细节，也不限制该公开仅为所述的具体实施例。显然，根据以上描述，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地利用本申请以及在本申请基础上的修改使用。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (11)

  1. 一种屏蔽装置，用于屏蔽强磁性的控制主件，其特征在于，所述屏蔽装置包括：
    工装平台，所述控制主件在支架的支撑下置于所述工装平台上；
    屏蔽罩，所述屏蔽罩由至少两个接合在一起的子屏蔽罩组成，且所述子屏蔽罩的侧壁与所述工装平台连接的一端设有卡件；
    一个或多个安装件，所述安装件固设在所述工装平台的台面上，且所述安装件围绕所述控制主件的放置位置设置；
    其中，所述卡件连接所述安装件使所述屏蔽罩可拆装地安装于所述工装平台以实现所述子屏蔽罩之间的对接动作或分离动作。
  2. 根据权利要求1所述的屏蔽装置，其特征在于，所述子屏蔽罩包括：屏蔽罩主体和安装所述屏蔽罩主体的屏蔽罩框架，其中，
    所述屏蔽罩框架包括屏蔽罩槽以及第一框架支柱和第二框架支柱；
    以及，所述屏蔽罩主体插入设置于所述屏蔽罩槽，所述第一框架支柱和所述第二框架支柱固定所述屏蔽罩槽，且分别固定在所述屏蔽罩槽的两个槽端。
  3. 根据权利要求2所述的屏蔽装置，其特征在于，所述屏蔽罩包括两个相邻的子屏蔽罩；
    所述相邻的两个子屏蔽罩通过所述第一框架支柱和所述第二框架支柱对接，其中，在相对接的所述第一框架支柱和所述第二框架支柱中，一者上设有开口槽，另一者上设有销位孔；
    所述屏蔽装置还包括拉手，所述拉手安装于所述开口槽内；
    所述开口槽还设有第一螺孔，所述拉手借助贯穿所述第一螺孔的螺纹件可转动地安装于所述开口槽内，并且所述拉手的自由端形成把持部；
    所述拉手还包括卡销部，所述卡销部在所述拉手安装于所述开口槽的情况下向所述销位孔突起。
  4. 根据权利要求2所述的屏蔽装置，其特征在于，
    所述卡件包括转轴，所述转轴设置于所述屏蔽罩槽；
    所述安装件为转轴卡槽，通过所述转轴与所述转轴卡槽之间的配合所述子屏蔽罩可转动地安装于所述工装平台。
  5. 根据权利要求1所述的屏蔽装置，其特征在于，
    所述屏蔽装置还包括限位结构，所述限位结构与所述控制主件和/或所述支架接触，用于对所述支架支撑的所述控制主件进行移动限制。
  6. 根据权利要求5所述的屏蔽装置，其特征在于，所述支架为机械臂，所述限位结构包括支撑架和夹紧部件；
    所述支撑架用于支撑所述夹紧部件；
    所述夹紧部件固设于所述支撑架的顶部，且所述夹紧部件用于夹持所述机械臂以限制所述控制主件的移动。
  7. 根据权利要求6所述的屏蔽装置，其特征在于，所述机械臂包括转动连接的第一子臂和第二子臂，所述夹紧部件为凹槽；
    所述凹槽用于嵌入所述第二子臂，当所述第二子臂嵌入所述凹槽后所述第一子臂和所述第二子臂在目标平面的投影为夹角固定的两条直线，所述目标平面为所述凹槽的槽底所在平面；
    以及，在所述第一子臂旋转的过程中，只有一个位置使所述第二子臂嵌入所述凹槽。
  8. 根据权利要求5所述的屏蔽装置，其特征在于，所述限位结构包括多个保护滑板；
    所述保护滑板设置在所述工装平台的台面上；
    所述保护滑板在立设状态位于所述安装件和所述控制主件的放置位置之间，并且多个所述保护滑板围绕所述控制主件的放置位置设置。
  9. 根据权利要求8所述的屏蔽装置，其特征在于，
    所述工装平台的台面上设有滑板槽，所述保护滑板以围绕其底部旋转的方式安装于所述滑板槽的槽内，其中，所述保护滑板在磁屏蔽状态下立设于所述滑板槽内，在非磁屏蔽状态下嵌设于所述滑板槽内；
    所述工装平台还包括锁定结构，所述锁定结构包括锁定按钮，所述锁定结构用于通过所述锁定按钮控制所述保护滑板在所述滑板槽内处于锁定状态或解锁状态。
  10. 根据权利要求5所述的屏蔽装置，其特征在于，
    所述限位结构包括承载台，所述承载台固设在所述工装平台的台面上以用于承载所述控制主件；
    所述控制主件包括磁体，所述磁体通过主件外壳封装；
    其中，所述承载台的台面和所述主件外壳的靠近所述承载台的一端为相互嵌合的形状。
  11. 一种磁控胶囊内窥镜系统，其特征在于，包括：
    权利要求1-10中任一项所述的屏蔽装置、强磁性的控制主件、支撑所述控制主件的支架以及用于安装所述支架的工装平台；
    其中，所述支架支撑着所述控制主件进行移动，所述屏蔽装置的屏蔽罩用于对所述支架支撑的所述控制主件进行屏蔽。
PCT/CN2023/072311 2022-01-27 2023-01-16 屏蔽装置及磁控胶囊内窥镜系统 WO2023143166A1 (zh)

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