CN103190880B - The control system of the speed of service and control method in a kind of capsule endoscope body - Google Patents
The control system of the speed of service and control method in a kind of capsule endoscope body Download PDFInfo
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- CN103190880B CN103190880B CN201310122502.7A CN201310122502A CN103190880B CN 103190880 B CN103190880 B CN 103190880B CN 201310122502 A CN201310122502 A CN 201310122502A CN 103190880 B CN103190880 B CN 103190880B
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Abstract
In a kind of capsule endoscope body, the control system of the speed of service includes: capsule endoscope, it is provided with first microprocessor and the acceleration transducer being electrically connected, rf modulations chip, recording accekeration when it runs in vivo by acceleration transducer, transmission to rf modulations chip carries out signal transmission；Speed control unit, is placed in external, including the reception control module being electrically connected with and solenoid；Receiving control module and include the second microcontroller and the electromagnet power supply control module being electrically connected, radio demodulating chip, electromagnet power supply control module electrically connects with solenoid；When energising produces electromagnetic field, internal capsule endoscope moves closer to the intestines and stomach inwall, and accekeration will be run via the transmission of rf modulations chip to radio demodulating chip, second microcontroller DM energy supply control module controls solenoid and adjusts the size of electromagnetic field, controls capsule endoscope movement velocity in the intestines and stomach with the change according to the accekeration fed back.
Description
Technical field
The present invention relates to capsule endoscope, particularly relate to a kind of control system acceleration of capsule endoscope adjusted in real time by negative feedback mechanism and control method.
Background technology
Capsule endoscopic is the High Tech Products of medical development, it is day by day widely used in the clinical diagnosis of the most various disease, use painless AT monitoring, diagnosing, enter after Kou Fu in human stomach or intestinal, by its lens assembly shooting at close range its internal stomach or intestinal wall situation, to carry out clinical diagnosis, alleviate the clinical distress of patient.
The acquisition time of the video sensor single picture within capsule endoscope is about 30ms, the acquisition time of single picture is long, if the capsule speed of service in vivo is too fast, easily cause the situation that the picture blur collected is unclear, the most effectively control the capsule speed of service and become meaningful.
Therefore, it is necessary to provide the control system and the control method capsule endoscope speed of service in vivo can being controlled.
Summary of the invention
Based on the deficiencies in the prior art, present invention is primarily targeted at and the control system and control method can being controlled the capsule endoscope speed of service in vivo is provided, in the intestines and stomach, keep low cruise controlling it, it is thus achieved that image clearly.
The invention provides the control system of the speed of service in a kind of capsule endoscope body, comprising:
Capsule endoscope, it is provided with first microprocessor and the acceleration transducer being electrically connected, rf modulations chip, by accekeration when capsule endoscope runs in vivo under acceleration transducer real time record, transmission to rf modulations chip carries out signal transmission；
Speed control unit, is placed in external, including the reception control module being electrically connected with and solenoid；
Wherein, receiving control module and include the second microcontroller and the electromagnet power supply control module being electrically connected, radio demodulating chip, electromagnet power supply control module electrically connects with solenoid；
When electromagnet power supply control module drives solenoid energising to produce electromagnetic field, internal capsule endoscope is moved closer to the intestines and stomach inwall by magneticaction, and run accekeration via the transmission of rf modulations chip to the radio demodulating chip receiving control module by what acceleration transducer recorded, and transmitted to the second microcontroller by radio demodulating chip, second microcontroller is according to setting the size requiring that DM energy supply control module controls solenoid adjustment electromagnetic field, capsule endoscope movement velocity in the intestines and stomach is controlled with the change according to the accekeration fed back.
Preferably, in the second microcontroller, when the accekeration that radio demodulating chip is transmitted is more than when setting accekeration, then transmission reduce-speed sign is to electromagnet power supply control module, drives it to reduce electric current output, to reduce the electromagnetic force of solenoid；Otherwise, when the accekeration that radio demodulating chip is transmitted is less than when setting accekeration, then transmission signal for faster is to electromagnet power supply control module, drives it to improve electric current, to improve the electromagnetic force of solenoid.
Preferably, the current feed gear of described electromagnet power supply control module is divided into 3 grades: 10A, 20A and 30A, and when acceleration is zero, starting current feed is output as 30A, when acceleration is 0m/s2<a<0.5m/s2Time, starting current feed is output as 20A, when acceleration is 0.5m/s2<a<1.0m/s2Time, starting current feed is output as 10A, when acceleration is a > 1.0m/s2Time, electromagnet power supply control module closes electric current output.
Preferably, the change of the accekeration that speed control unit is fed back according to the acceleration transducer of capsule endoscope adjusts its speed of service in the intestines and stomach so that it is keep low cruise, and the setting accekeration of described capsule endoscope is less than 1.0m/s2。
Preferably, in described accekeration embedded images data, using the pixel compartments that colors in view data as labelling, send in the lump to receiving control module with view data.
Present invention also offers the control method of the speed of service in a kind of capsule endoscope body, it comprises the following steps:
Step 1) starts electromagnet power supply control module, and solenoid is energized and produces electromagnetic field；
Step 2) human body capsule endoscope in solenoid, the intestines and stomach attracts by magnetic force and moves to the intestines and stomach wall, and by the transmission of the accekeration of recorded for acceleration transducer operation to speed control unit；
The change of the accekeration that step 3) speed control unit is fed back according to capsule endoscope is to control its speed of service.
Compared with prior art, the control system of the speed of service in capsule endoscope body of the present invention, accekeration is fed back by acceleration transducer record and to speed control unit, the amplitude of feed current is adjusted according to the accekeration DM energy supply control module fed back, by the negative feedback process size to adjusting electromagnetic attraction, thus, adjust the speed of service of endoscope, avoid its excessive velocities and cause taken the photograph not fogging clear, to obtain image or image clearly, improve the quality of shooting, and then improve accuracy and the degree of accuracy of diagnosis, its diagnosis and treatment had the biggest practice significance.Meanwhile, on operation equipment, negative feedback mechanism is used to detect and control, impact endoscope run in conjunction with electromagnetic field field intensity Variation Features, the adjustment to endoscope's speed is realized so that it is remain a constant speed operation, it is ensured that the stationarity of shooting and clarity by changing field strength.
Accompanying drawing explanation
Fig. 1 is the structural representation of capsule endoscope of the present invention；
Fig. 2 is the control schematic diagram of the control system of the speed of service in capsule endoscope body of the present invention；
Fig. 3 is the system block diagram of the control system of the speed of service in capsule endoscope body of the present invention；
Fig. 4 is the electromagnetic field curve chart of the control system of the speed of service in capsule endoscope body of the present invention；
Fig. 5 is that the electric current of capsule endoscope of the present invention controls schematic diagram；
Fig. 6 is the principle schematic of the electromagnet power supply control module of the control system of the speed of service in capsule endoscope body of the present invention；
Fig. 7 be capsule endoscope of the present invention view data in the sign schematic diagram of acceleration.
Detailed description of the invention
Shown in seeing figures.1.and.2, the invention provides the control system of the speed of service in a kind of capsule endoscope body, it includes capsule endoscope 100 and speed control unit 200, the change of the accekeration that speed control unit 200 is fed back by capsule endoscope 100, it is carried out negative feedback control, to adjust the capsule endoscope 100 speed of service in the intestines and stomach.
Wherein, described capsule endoscope 100 includes capsule housing 1 and is packaged in light source 2 therein, camera lens 3, antenna 4, power supply 5, governor circuit 6, magnetic conduction module 7, camera lens 3 is arranged at the one or both ends of power supply 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on camera lens 3, governor circuit 6 and power supply 5 electrically connect with each module respectively, and described magnetic conduction module 7 is sheathed on power supply 5 periphery, play counterweight and are attracted draw by magnetic force.
With reference to shown in Fig. 3, described governor circuit 6 is provided with first microprocessor 60 and the acceleration transducer 61 being electrically connected and video sensor 62, described video sensor 62 electrically connects with rf modulations chip 63, wherein, the side of magnetic conduction module 7 is located at by described acceleration transducer 61, and be attached on power supply 5, for gathering the capsule endoscope current magnetic induction in the intestines and stomach and transmitting to first microprocessor 60；Magnetic induction value is invested in video sensor 62 acquired image data by described first microprocessor 60, transmission is to rf modulations chip 63, speed control unit 200 is fed back to through rf modulations chip 63, described video sensor 62 is for shooting the image of the intestines and stomach wall, and is recorded to image processing module by antenna transmission and analyze.
nullDescribed speed control unit 200 includes reception control module 20l and the solenoid 202 of electrical connection，Wherein，Receive control module 20l and include the second microcontroller 20la and electromagnet power supply control module 20lc being electrically connected and image processing module 201d，Radio demodulating chip 201b electrically connects with image processing module 201d，Wherein，Radio demodulating chip 201b receives the accekeration that capsule endoscope 100 is fed back，Transmit after it is demodulated to image processing module 201d，Described view data sends to the second microcontroller 20la，Through the second microcontroller 20la, view data is resolved，Extract the accekeration in view data，Second microcontroller 20la controls electromagnet power supply control module 20lc according to the changing value of magnetic induction value and adjusts its output electric current in real time，The magnetic field size realizing solenoid adjusts，To change the magnetic field magnetic attraction to capsule endoscope 100，And then change the capsule endoscope speed of service in the intestines and stomach.
Capsule endoscope is in body fluid, force action by buoyancy, gravity and electromagnetic attraction, its buoyancy and gravity are stationary value, therefore, electromagnetic attraction determines its size and Orientation of making a concerted effort, and electromagnetic attraction and magnetic induction direct proportionality, therefore, magnetic induction determines that capsule runs the size and Orientation of acceleration.Solenoid produces magnetic field in "on" position, the capsule endoscope containing magnetic conduction module produces captivation, and then controls capsule course in human body and position.Due to, magnetic induction is proportional to the amplitude of electric magnet feed current, controls the electric current of electric magnet, can control the instantaneous acceleration of capsule endoscope.
With reference to shown in Fig. 4, from above solenoid Magnetic Induction Density Distribution curve it can be seen that magnetic induction distance is not equally distributed, magnetic induction with distance to be aboutFormal distribution, electric magnet magnetic force with distance near and strengthen, distance the nearest, electromagnetic force strengthen the fastest, distance the most remote, magnetic force increase is the slowest.Therefore, when solenoid energising starts, the when of attracting capsule endoscope, owing to capsule endoscope distance Magnet is more and more nearer, electromagnetic attraction is increased dramatically with curve, causing acceleration increasing, the capsule speed of service is also increased dramatically, due to the restriction of capsule endoscope image acquisition speed, the capsule speed of service is too fast, it is the most disadvantageous for collecting picture rich in detail, it is therefore desirable to its acceleration is controlled, to obtain view data clearly.
In a preferred embodiment of the invention, the accekeration of capsule endoscope under each time is recorded by acceleration transducer, in the second microcontroller, when the accekeration that radio demodulating chip is transmitted is more than when setting accekeration, then send reduce-speed sign to electromagnet power supply control module, it is driven to reduce electric current output, to reduce the electromagnetic force of solenoid；Otherwise, when the accekeration that radio demodulating chip is transmitted is less than when setting accekeration, then transmission signal for faster is to electromagnet power supply control module, drives it to improve electric current, to improve the electromagnetic force of solenoid.By the current acceleration of capsule endoscope is monitored in real time, and according to accekeration, size of current is adjusted in real time, be maintained at low-speed run state controlling capsule endoscope, it is ensured that taken the photograph image or the definition of image.Wherein, described capsule endoscope set accekeration as less than 1.0m/s2。
In order to be controlled the speed of service of capsule endoscope more accurately, the change to accekeration carries out fixing quantity.When starting solenoid, capsule endoscope distance the intestines and stomach wall is farthest, set maximum electric current output, at this moment, capsule endoscope is moved closer to the intestines and stomach wall by magnetic attraction, along with the Distance Shortened between capsule endoscope and the intestines and stomach wall, shown in magnetic induction change curve as shown in Figure 4, magnetic induction is gradually reduced with the distance between capsule endoscope and the intestines and stomach wall and increases.
With reference to shown in Fig. 5, in the present embodiment, the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration is zero, starting current feed is output as 30A, with maximum feed current output, make its stress maximum, to accelerate its speed of service；When acceleration is 0m/s2<a<0.5m/s2Time, starting current feed is output as 20A；When acceleration is 0.5m/s2<a<1.0m/s2Time, starting current feed is output as 10A；When acceleration is a > 1.0m/s2Time, the closedown electric current output of electromagnet power supply control module, current feed is 0A.When acceleration gradually promotes, capsule endoscope moves closer to the intestines and stomach wall, feed amplitude can be reduced, to reduce its operation acceleration, on the one hand, avoid its operation too fast, shoot not fogging clear, on the other hand, run too fast when near the intestines and stomach wall, quick adsorption, on the intestines and stomach wall, affects its shooting and controls by magnetic force to cause it.When its acceleration reaches 1.0m/s2Time, second microcontroller sends and stops signal to electromagnet power supply control module, it is controlled by solenoid and stops electric current output, capsule endoscope is made not get attracted magnetically power, it is slowly close to the intestines and stomach wall by inertia, make its operation that remains a constant speed, carry out Treatment Analysis to obtain in the image processing module shooting image transmission extremely reception control module clearly.By arranging multiple adjustment gear, facilitate degenerative being adjusted flexibly, electric current can be stirred and control gear according to the size of acceleration, control current output amplitudes quantitatively, to obtain accurate Acceleration Control result.
nullWith reference to shown in Fig. 6，In electromagnet power supply control module 201c，AC-DC conversion control module 202a including electrical connection、Reverse current suppression module 202b and lightning protection module 202c，AC-DC conversion control module 202a and the electrical connection of the second microcontroller，Reverse current suppression module 202b electrically connects with solenoid 202，When alternating current power supply accesses AC-DC conversion control module 202a，Lightning protection module 202c electrically connects with alarm module，Alternating current power supply is accessed by AC-DC conversion control module 202a，When receiving the adjustment voltage signal that the second microcontroller is sent，Control according to described signal instruction，Small-signal is used to control the direct current amplitude of output，After AC-DC conversion，The required current of output，Described lightning protection module 202c plays the anti-lightning strike and effect of current surge，Reverse current is played and releases and inhibitory action by reverse current suppression module，Voltage is made to keep forward，After electric current suppression and adjusting，Output is to solenoid 202，It is made to produce correspondingly sized magnetic field.
With reference to shown in Fig. 7, for improving picture quality, capsule endoscope image transmitting uses analog signal form, is directly exported by simulation FM modulation chip, and therefore, accekeration cannot be by digital form packing output.In order to solve the transmission problem of data, in described accekeration embedded images data, using the pixel compartments that colors in view data as labelling, send in the lump with view data to receiving control module, by the osd function of video sensor, after the first microcontroller collects accekeration, pass through osd function, control specific region output image pixel arrangement, represent accekeration with the pixel number of permutations, with this, accekeration is exported to external reception end.OSD is the abbreviation of on-screendisplay, i.e. screen menu type regulative mode.After usually pressing Menu key, to display work in every index, the rectangle menu of display every reconciling items information that screen ejects, can include that color, pattern, geometry etc. are adjusted by this menu, thus reach optimal use state.It addition, the position of display, the time of attonity closedown display can also be adjusted in OSD option.Such as: as accekeration output, the arrangement of last for picture screen string pixel is represented row: under upper, the aobvious redness of each pixel, expression accekeration is 0.05m/s2；If accekeration is 0.2m/s2Time, show that 4 lattice are red the most from top to bottom, remaining lattice pixel of same column display blueness；By that analogy；Receiving terminal arranges and quantity according to the pixel color of the last string of received screen message, even if accekeration can be obtained.
Present invention also offers the control method of the speed of service in a kind of capsule endoscope body, it comprises the following steps:
Step 1) starts electromagnet power supply control module, and solenoid is energized and produces electromagnetic field；
Step 2) human body capsule endoscope in solenoid, the intestines and stomach attracts by magnetic force and moves to the intestines and stomach wall, and by the transmission of the accekeration of recorded for acceleration transducer operation to speed control unit；
The change of the accekeration that step 3) speed control unit is fed back according to capsule endoscope is to control its speed of service.
Wherein, in step 2) in, acceleration transducer in capsule endoscope gathers its accekeration run, send to speed control unit via rf modulations chip, after the radio demodulating chip of the reception control module of speed control unit receives described accekeration signal, transmit to the second microprocessor, carry out signal fusing, and export size according to the electric current of signal fusing output control electromagnet power supply control module.
In step 3), the second microcontroller degree of being accelerated signal fusing at speed control unit, when the accekeration that radio demodulating chip is transmitted is more than when setting accekeration, then send reduce-speed sign to electromagnet power supply control module, it is driven to reduce electric current output, to reduce the electromagnetic force of solenoid；Otherwise, when the accekeration that radio demodulating chip is transmitted is less than when setting accekeration, then transmission signal for faster is to electromagnet power supply control module, drives it to improve electric current, to improve the electromagnetic force of solenoid.
The current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, and when acceleration is zero, starting current feed is output as 30A, when acceleration is 0m/s2<a<0.5m/s2Time, starting current feed is output as 20A, when acceleration is 0.5m/s2<a<1.0m/s2Time, starting current feed is output as 10A, when acceleration is a > 1.0m/s2Time, the closedown electric current output of electromagnet power supply control module, current feed is output as 0A.
During solenoid produces magnetic field, the accekeration that acceleration transducer is recorded by capsule endoscope in real time passes through rf modulations chip and the antenna of capsule, send the radio demodulating chip of the reception control module to speed control unit, according to the accekeration information fed back, the second microcontroller DM energy supply control module carries out real-time adjustment to feed current amplitude.When just starting to attract capsule endoscope, due to capsule endoscope distance solenoid relative distance farther out, captivation is more weak, and at this moment, solenoid is operated with maximum current, with attract and affect capsule；When capsule endoscope is due to the electromagnetic attraction by solenoid, starting to run to solenoid direction, due to its furthering of distance each other, electromagnetic attraction is according to its Magnetic Induction Density Distribution curve, starting gradually to strengthen, it is increasing that capsule endoscope runs acceleration；When the accekeration that outside reception control module receives capsule endoscope is increased dramatically, immediately by electromagnet power supply control module, reduce electric magnet feed current in real time, thus reduce electromagnetic attraction, reduce the operation acceleration of capsule endoscope, thus ensure that its speed of service is unlikely to too fast, it is ensured that the definition of output image, and avoid its high-speed motion to suck in the intestines and stomach wall, impact shooting control process.
Claims (5)
1. the control system of the speed of service in a capsule endoscope body, it is characterised in that including:
Capsule endoscope, it is provided with first microprocessor and the acceleration transducer being electrically connected, rf modulations chip, by accekeration when capsule endoscope runs in vivo under acceleration transducer real time record, transmission to rf modulations chip carries out signal transmission；
Speed control unit, is placed in external, including the reception control module being electrically connected with and solenoid；
Wherein, receiving control module and include the second microcontroller and the electromagnet power supply control module being electrically connected, radio demodulating chip, electromagnet power supply control module electrically connects with solenoid；
When electromagnet power supply control module drives solenoid energising to produce electromagnetic field, internal capsule endoscope is moved closer to the intestines and stomach inwall by magneticaction, and run accekeration via the transmission of rf modulations chip to the radio demodulating chip receiving control module by what acceleration transducer recorded, and transmitted to the second microcontroller by radio demodulating chip, second microcontroller is according to setting the size requiring that DM energy supply control module controls solenoid adjustment electromagnetic field, capsule endoscope movement velocity in the intestines and stomach is controlled with the change according to the accekeration fed back, in the second microcontroller, when the accekeration that radio demodulating chip is transmitted is more than when setting accekeration, then send reduce-speed sign to electromagnet power supply control module, it is driven to reduce electric current output, to reduce the electromagnetic force of solenoid；Otherwise, when the accekeration that radio demodulating chip is transmitted is less than when setting accekeration, then transmission signal for faster is to electromagnet power supply control module, drives it to improve electric current, to improve the electromagnetic force of solenoid.
The control system of the speed of service in capsule endoscope body the most according to claim 1, it is characterized in that: when the acceleration of capsule endoscope is zero, electromagnet power supply control module starts maximum current, when the acceleration of capsule endoscope reaches or surpasses 1.0m/s2Time, electromagnet power supply control module closes electric current output.
The control system of the speed of service in capsule endoscope body the most according to claim 2, it is characterized in that: the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration is zero, starting current feed is output as 30A, when acceleration is 0m/s2<a<0.5m/s2Time, starting current feed is output as 20A, when acceleration is 0.5m/s2<a<1.0m/s2Time, starting current feed is output as 10A, when acceleration is a > 1.0m/s2Time, the closedown electric current output of electromagnet power supply control module, current feed is output as 0A.
The control system of the speed of service in capsule endoscope body the most according to claim 1, it is characterised in that: the setting accekeration of described capsule endoscope is less than 1.0m/s2。
5. according to the control system of the speed of service in the capsule endoscope body according to any one of claim 1-4, it is characterized in that: in described accekeration embedded images data, using the pixel compartments that colors in view data as labelling, send in the lump to receiving control module with view data.
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| CN102961112B (en) * | 2012-11-07 | 2014-09-03 | 深圳市资福技术有限公司 | Capsule endoscope |
| US10500127B2 (en) | 2016-04-18 | 2019-12-10 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Vivo device and method of using the same |
| US10478373B2 (en) * | 2016-04-18 | 2019-11-19 | Ankon Medical Technologies (Shanghai) Co., Ltd | In vivo device and method of using the same |
| US10314514B2 (en) | 2016-05-29 | 2019-06-11 | Ankon Medical Technologies (Shanghai) Co., Ltd. | System and method for using a capsule device |
| CN110638416B (en) * | 2019-09-29 | 2022-06-21 | 北京华亘安邦科技有限公司 | Suspension control method and device of capsule endoscope |
| CN111481420B (en) * | 2020-06-01 | 2022-08-09 | 上海安翰医疗技术有限公司 | Method for controlling vibrating capsule |
| CN111588338B (en) * | 2020-06-01 | 2022-08-19 | 上海安翰医疗技术有限公司 | Capsule device and method for starting same |
| CN112843369A (en) * | 2021-01-05 | 2021-05-28 | 重庆天如生物科技有限公司 | Mucous membrane cleaning system based on deep learning |
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| CN203122346U (en) * | 2013-04-10 | 2013-08-14 | 深圳市资福技术有限公司 | Control system for in-vivo running speed of capsule endoscope |
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| US20050065441A1 (en) * | 2003-08-29 | 2005-03-24 | Arkady Glukhovsky | System, apparatus and method for measurement of motion parameters of an in-vivo device |
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| CN1878495A (en) * | 2003-11-11 | 2006-12-13 | 奥林巴斯株式会社 | Capsule type medical device system and capsule type medical device |
| CN102647934A (en) * | 2009-11-10 | 2012-08-22 | 奥林巴斯医疗株式会社 | Capsule medical device guidance system and method for guiding capsule medical device |
| CN203122346U (en) * | 2013-04-10 | 2013-08-14 | 深圳市资福技术有限公司 | Control system for in-vivo running speed of capsule endoscope |
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Address after: 518000 9 A905-1, Thunis science and Technology Park, No. 13, Langshan Road, North Nanshan District hi tech Industrial Park, Shenzhen, Guangdong. Patentee after: Shenzhen fufu Medical Technology Co., Ltd. Address before: 518000 9 A905-1, Thunis science and Technology Park, No. 13, Langshan Road, North Nanshan District hi tech Industrial Park, Shenzhen, Guangdong. Patentee before: Shenzhen Zifu Technology Co., Ltd. |