CN103222841B - The control system of the speed of service in capsule endoscope body - Google Patents
The control system of the speed of service in capsule endoscope body Download PDFInfo
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- CN103222841B CN103222841B CN201310121865.9A CN201310121865A CN103222841B CN 103222841 B CN103222841 B CN 103222841B CN 201310121865 A CN201310121865 A CN 201310121865A CN 103222841 B CN103222841 B CN 103222841B
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- magnetic induction
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
Abstract
In capsule endoscope body, the control system of the speed of service comprises: capsule endoscope, be provided with first microprocessor and the Hall element be electrically connected with it, rf modulations chip, record magnetic induction value when it runs in vivo by Hall element, transfer to rf modulations chip and carry out signal transmission; Speed control unit, is placed in external, comprises reception control module and the solenoid of electric connection; Receive control module and comprise the second microcontroller and electromagnet power supply control module, radio demodulating module, electromagnet power supply control module is electrically connected with solenoid; When energising generates an electromagnetic field, capsule endoscope in body is gradually near the intestines and stomach inwall, and operation magnetic induction value is sent to radio demodulating module via rf modulations chip, second microcontroller DM energy supply control module controls the size of solenoid adjustment electromagnetic field, to control the movement velocity of capsule endoscope in the intestines and stomach according to the change of fed back magnetic induction value.
Description
Technical field
The present invention relates to capsule endoscope, referring to a kind of by detecting the control system that magnetic induction employing negative feedback mechanism carries out the speed of capsule endoscope adjusting in real time especially.
Background technology
Capsule endoscopic is the High Tech Products of medical development, it is day by day widely used in the clinical diagnosis of medically various disease, adopt painless AT monitoring, diagnosing, enter in human stomach or intestinal after oral, by stomach or the intestinal wall situation of its its inside of lens assembly shooting at close range, to carry out clinical diagnosis, alleviate the clinical distress of patient.
Because the acquisition time of the video sensor single picture of capsule endoscope inside is about 30ms, the acquisition time of single picture is long, if the capsule in vivo speed of service is too fast, very easily cause the situation that the picture blur that collects is unclear, therefore effectively control the capsule speed of service and become meaningful.
Therefore, being necessary to provide can to the capsule endoscope control system that controls of the speed of service in vivo.
Summary of the invention
Based on the deficiencies in the prior art, main purpose of the present invention is to provide a kind of by detecting magnetic induction to the capsule endoscope control system that controls of the speed of service in vivo, to control its operation that remains a constant speed in the intestines and stomach, obtains image clearly.
The invention provides the control system of the speed of service in capsule endoscope body, it comprises:
Capsule endoscope, it is provided with first microprocessor and the Hall element be electrically connected with it, rf modulations chip, by the magnetic induction of capsule endoscope position under Hall element real time record, transfers to rf modulations chip and carries out signal transmission;
Speed control unit, is placed in external, comprises reception control module and the solenoid of electric connection;
Wherein, receive control module and comprise the second microcontroller and the electromagnet power supply control module be electrically connected with it, radio demodulating module, electromagnet power supply control module is electrically connected with solenoid;
When electromagnet power supply control module drives solenoid energising to generate an electromagnetic field, capsule endoscope in body is by magneticaction and gradually near the intestines and stomach inwall, and by the magnetic induction of Hall element record capsule endoscope position, the radio demodulating module receiving control module is sent to via rf modulations chip, and by radio demodulating module transfer to the second microcontroller, according to setting, second microcontroller requires that DM energy supply control module controls the size of solenoid adjustment electromagnetic field, to control the movement velocity of capsule endoscope in the intestines and stomach according to the change of fed back magnetic induction.
In the second microcontroller, when the magnetic induction value that radio demodulating module is transmitted is greater than setting magnetic induction value, then send reduce-speed sign to electromagnet power supply control module, drive it to reduce electric current and export, to reduce the electromagnetic force of solenoid; Otherwise, when the magnetic induction value that radio demodulating module is transmitted is less than setting magnetic induction value, then sends signal for faster to electromagnet power supply control module, drive 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 4 grades: 0A, 10A, 20A and 30A, as magnetic induction density B <60Gs, starting current feed exports as 30A, when magnetic induction is 60Gs<B<80Gs, starting current feed exports as 20A, when magnetic induction is 80Gs<B<90Gs, starting current feed exports as 10A, when magnetic induction is B>100Gs, electromagnet power supply control module close current exports, current feed exports as 0A.The change of the magnetic induction that speed control unit feeds back according to the Hall element of capsule endoscope adjusts its speed of service in the intestines and stomach, makes it keep low cruise.
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) start electromagnet power supply control module, solenoid is energized and generates an electromagnetic field;
Step 2) near solenoid, capsule endoscope moves to the maximum direction of magnetic force by magnetic force attraction, and by Hall element record its position magnetic induction be sent to speed control unit;
Step 3) the speed control unit change of magnetic induction of feeding back according to capsule endoscope to be to control its speed of service.
Preferably, also can be further comprising the steps:
Step 4) magnetic induction that records according to Hall element calculates the operation acceleration drawing capsule endoscope;
Step 5) the feed current value of the magnetic induction that records according to Hall element and current electromagnetic coil, calculate the current position of capsule.
Compared with prior art, the control system of the speed of service in capsule endoscope body of the present invention, by Hall element record and to speed control unit feedback magnetic induction value, according to the amplitude of fed back magnetic induction value DM energy supply control module adjustment feed current, by the size of negative feedback mechanism adjustment electromagnetic attraction, thus, the speed of service of adjustment endoscope, avoiding its excessive velocities causes 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, to its diagnosis and treatment, there is very large practice significance.Meanwhile, on operating equipment, negative feedback mechanism is adopted to carry out detecting and controlling, in conjunction with the impact that electromagnetic field field intensity Variation Features endoscope runs, realize the adjustment of endoscope speed by changing field strength, equipment is simple, easy to operate, reliability is strong, and adjustment strain flexibly.In addition, also calculate operation acceleration, each parameter such as its current location, place and speed of service etc. of capsule endoscope by fed back magnetic induction, to medical diagnosis, there is very large meaning.
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 the Current Control schematic diagram of capsule endoscope of the present invention;
Fig. 6 is the range finding schematic diagram of the control system of the speed of service in capsule endoscope body of the present invention;
Fig. 7 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. 8 is the sign schematic diagram of acceleration in the view data of capsule endoscope of the present invention.
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 comprises capsule endoscope 100 and speed control unit 200, the change of the magnetic induction value that speed control unit 200 is fed back by capsule endoscope 100, negative feedback control is carried out to it, to adjust the speed of service of capsule endoscope 100 in the intestines and stomach.
Wherein, described capsule endoscope 100 comprises capsule housing 1 and is packaged in light source 2, camera lens 3, antenna 4, power supply 5, governor circuit 6, magnetic conduction module 7 wherein, 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 are electrically connected with each module respectively, and described magnetic conduction module 7 is sheathed on power supply 5 periphery, play counterweight and attract draw by magnetic force.
Described governor circuit 6 is provided with first microprocessor 60 and the Hall element 61 be electrically connected with it and video sensor 62, described video sensor 62 is electrically connected with rf modulations chip 63, wherein, described Hall element 61 is located at the side of magnetic conduction module 7, and be attached on power supply 5, for gathering the current magnetic induction of capsule endoscope in the intestines and stomach and transferring to first microprocessor 60; Magnetic induction value invests in the view data that video sensor 62 gathers by described first microprocessor 60, transfer to rf modulations chip 63, speed control unit 200 is fed back to through rf modulations chip 63, described video sensor 62 for taking the image of the intestines and stomach wall, and is sent to image processing module by antenna and carries out recording and analyzing.
Described speed control unit 200 comprises reception control module 201 and the solenoid 202 of electrical connection, wherein, receive control module 201 and comprise the second microcontroller 201a and the electromagnet power supply control module 201c be electrically connected with it and image processing module 201d, radio demodulating module 201b is electrically connected with image processing module 201d, wherein, radio demodulating module 201b receives the magnetic induction that capsule endoscope 100 feeds back, image processing module 201d is transferred to after demodulation is carried out to it, described view data is sent to the second microcontroller 201a, through the second microcontroller 201a, view data is resolved, extract the magnetic induction value in view data, second microcontroller 201a controls electromagnet power supply control module 201c according to the changing value of magnetic induction value and adjusts in real time its output current, realize the magnetic field size adjustment of solenoid, to change the magnetic attraction of magnetic field to capsule endoscope 100, and then change the speed of service of capsule endoscope in the intestines and stomach.
Capsule endoscope is in body fluid, by the force action of 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, produces captivation to the capsule endoscope containing magnetic conduction module, and then controls the course of capsule in human body and position.
When solenoid attract capsule endoscope near time, distance far away, magnetic force increase is slower; Distance is nearer, and magnetic force increase is faster.Therefore, when solenoid energising starts, when attracting capsule endoscope, because capsule endoscope distance Magnet is more and more nearer, electromagnetic attraction sharply increases with curve, cause acceleration increasing, the capsule speed of service also sharply increases, due to the restriction of capsule endoscope image acquisition speed, the capsule speed of service is too fast, being very disadvantageous for collecting picture rich in detail, therefore needing to control its acceleration, to obtain view data clearly.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. 3, as can be seen from above solenoid Magnetic Induction Density Distribution curve, magnetic induction distance is not equally distributed, and its computing formula is
magnetic induction with distance to be about
formal distribution, can calculate capsule position, the accekeration of operation and present speed.Set certain current value, the magnetic induction of near zone each position can be recorded out by Hall element, change current value, record different magnetic induction values, record the magnetic induction value during electric current of different gear.It can thus be appreciated that, when known current value, according to the magnetic induction value that Hall element feeds back, in conjunction with Magnetic Induction Density Distribution curve, the position at capsule endoscope place can be calculated, contribute to the location observation helping each image.Electromagnetic attraction suffered by capsule endoscope and magnetic induction value proportional, magnetic induction directly determines its electromagnetic attraction, and electromagnetic attraction directly determines making a concerted effort suffered by capsule endoscope, according to the magnetic induction value that Hall element spreads out of, the accekeration of capsule endoscope can be extrapolated in real time.According to the magnetic induction that Hall element is surveyed, can calculate position and the accekeration of capsule endoscope, when solenoid feed current is constant, calculated magnetic induction rate of intensity variation, can roughly extrapolate its movement velocity.
In a preferred embodiment of the invention, by the magnetic induction value of the capsule endoscope under each time of Hall element record, in the second microcontroller, when the magnetic induction value that radio demodulating module is transmitted is greater than setting magnetic induction value, then send reduce-speed sign to electromagnet power supply control module, drive it to reduce electric current to export, to reduce the electromagnetic force of solenoid; Otherwise, when the magnetic induction value that radio demodulating module is transmitted is less than setting magnetic induction value, then sends signal for faster to electromagnet power supply control module, drive it to improve electric current, to improve the electromagnetic force of solenoid, then promote the speed of service of capsule endoscope in the intestines and stomach.Capsule endoscope is in free state in the intestines and stomach, according to the size of fed back magnetic induction, adjusts its speed of service in real time.
In order to control the speed of service of capsule endoscope more accurately, fixing quantity is carried out to the change of accekeration.When starting solenoid, capsule endoscope distance the intestines and stomach wall farthest, set maximum electric current to export, at this moment, capsule endoscope is subject to magnetic attraction gradually near the intestines and stomach wall, along with the Distance Shortened between capsule endoscope and the intestines and stomach wall, shown in the magnetic induction change curve shown in Fig. 4, magnetic induction reduces gradually with the distance between capsule endoscope and the intestines and stomach wall and increases.
With reference to shown in Fig. 5, the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, as magnetic induction density B <60Gs, starting current feed exports as 30A, when magnetic induction is 60Gs<B<80Gs, starting current feed exports as 20A, when magnetic induction is 80Gs<B<90Gs, starting current feed exports as 10A, when magnetic induction is B>100Gs, electromagnet power supply control module close current exports, current feed exports as 0A.When magnetic induction is more weak, opens maximum feed and export, make capsule endoscope stressed maximum, promote the speed that it runs; Along with capsule endoscope is close to the intestines and stomach wall gradually, its magnetic induction strengthens gradually, when magnetic induction reaches certain value, show that capsule gastroscope enters certain magnetic field range region, reduce feed amplitude, decline a gear, its acceleration can be reduced, the speed of service declines thereupon; When magnetic induction increases to some strength, in order to control the speed of service of capsule endoscope, second microcontroller sends stop signal to electromagnet power supply control module, controlling solenoid by it stops electric current exporting, make capsule endoscope not by magnetic attraction, it is slowly close to the intestines and stomach wall by inertia, makes it keep low cruise, carries out Treatment Analysis to obtain to take image clearly and transfer in the image processing module receiving control module.
With reference to shown in Fig. 6, by the control system of this speed of service, not only can detect the magnetic induction of capsule endoscope in real time, by negative feedback mechanism, the feed current of adjustment solenoid, adjusts its speed of service.On the other hand, by the detection to magnetic induction, know the approximate location of capsule endoscope in the intestines and stomach.Distance 50cm place, electromagnetic center face is datum line, and take feed current as 20A be example, when capsule endoscope is between 40cm-50cm, magnetic induction is 60GS-100GS; Time between 30cm-40cm, magnetic induction is 100GS-160GS; Time between 20cm-30cm, magnetic induction is 160GS-300GS.If when adjustment feed current is 10A, when the magnetic induction measured by Hall element is 30GS-60GS, can infer that capsule endoscope is between 40cm-50cm, when measured magnetic induction is 50GS-80GS, can infer that capsule endoscope is between 30cm-40cm, when measured magnetic induction is 80GS-150GS, can infer that capsule endoscope is between 20cm-30cm.By that analogy, when known feed amplitude, according to magnetic induction, the spacing between capsule endoscope and the intestines and stomach wall can be calculated, know its position thus, help it to infer the approximate location of captured image.
With reference to shown in Fig. 7, in electromagnet power supply control module 201c, comprise the AC-DC conversion control module 202a of electrical connection, reverse current suppression module 202b and lightning protection module 202c, AC-DC conversion control module 202a is electrically connected with the second microcontroller, reverse current suppression module 202b is electrically connected with solenoid 202, as alternating current power supply access AC-DC conversion control module 202a, lightning protection module 202c is electrically connected 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 sends, control according to described signal instruction, small-signal is adopted to control the direct current amplitude exported, after AC-DC conversion, export required current, described lightning protection module 202c plays effect that is anti-lightning strike and current surge, reverse current suppression module plays reverse current and releases and inhibitory action, voltage is made to keep forward, after electric current suppression and adjustment, export solenoid 202 to, it is made to produce the magnetic field of corresponding size.
With reference to shown in Fig. 8, for improving picture quality, capsule endoscope image transmitting adopts analog signal form, is directly exported by simulation FM modulation chip, and therefore, magnetic induction value cannot be exported by digital form packing.In order to solve the transmission problem of data, in described magnetic induction value embedded images data, using the pixel compartments that colors in view data as labelling, reception control module is sent in the lump, by the osd function of video sensor, after the first microcontroller collects magnetic induction value with view data, pass through osd function, control specific region output image pixel arrangement, represent magnetic induction value with the pixel number of permutations, with this, magnetic induction value is exported to external reception end.OSD is the abbreviation of on-screendisplay, i.e. screen menu type regulative mode.Be generally the rectangle menu of the every reconciling items information of display that after pressing Menu key, screen ejects, by this menu, color, pattern, geometry etc. comprised to display work in every index and adjust, thus reach best using state.In addition, the position of display can also be adjusted in OSD option, attonity closes the time shown.Such as: last for picture screen string pixel arrangement exports as magnetic induction value and represents row by we: under upper, each pixel is aobvious red, represents that magnetic induction value is 10Gs; As magnetic induction value be 80Gs time, then show 8 lattice from top to bottom red, the display of all the other lattice pixels of same column is blue; By that analogy, receiving terminal, according to the pixel color arrangement of the last string of received screen message and quantity, obtain magnetic induction value even if get final product.
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) start electromagnet power supply control module, solenoid is energized and generates an electromagnetic field;
Step 2) near solenoid, capsule endoscope moves to the maximum direction of magnetic force by magnetic force attraction, and by Hall element record its position magnetic induction be sent to speed control unit;
Step 3) the speed control unit change of magnetic induction of feeding back according to capsule endoscope to be to control its speed of service.
In a preferred embodiment of the invention, operation acceleration and its current position that fed back magnetic induction value calculates capsule endoscope can also be passed through, specifically comprise the following steps:
Step 4) magnetic induction that records according to Hall element calculates the operation acceleration drawing capsule endoscope.F
make a concerted effort=G+F
buoyancy+ F
magnetic force=ma, wherein, gravity G
buoyancy, buoyancy F
buoyancycan record, magnetic force F
magnetic forcethe magnetic induction value can transmitted according to Hall element can be calculated, and therefore the quality m of known capsules endoscope can calculate acceleration in real time;
Step 5) the feed current value of the magnetic induction that records according to Hall element and current electromagnetic coil, calculate the current position of capsule.Foundation
test gained magnetic induction density B, feed current value I, pcrmeability u0, turn number N 1, coil radius a, all known, can the current position r of test capsule endoscope (distance between capsule endoscope and solenoid center) according to formula.
Wherein, in step 2) in, in capsule endoscope, Hall element gathers the magnetic induction of its position, speed control unit is sent to via rf modulations chip, after the radio demodulating module of the reception control module of speed control unit receives described magnetic induction signal, transfer in the second microprocessor and carry out signal fusing, when the second magnetic induction that radio demodulating module is transmitted is greater than the first magnetic induction, then send reduce-speed sign to electromagnet power supply control module, it is driven to reduce electric current, to reduce the electromagnetic force of solenoid; Otherwise, when the second magnetic induction that radio demodulating module is transmitted is less than the first magnetic induction, then sends signal for faster to electromagnet power supply control module, drive it to improve electric current, to improve the electromagnetic force of solenoid.Through measurement and the comparison of magnetic induction, according to comparison result, the feed changing solenoid exports, and adjusts the speed of service of capsule endoscope in real time.
Preferably, the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, as magnetic induction density B <60Gs, starting current feed exports as 30A, when magnetic induction is 60Gs<B<80Gs, starting current feed exports as 20A, when magnetic induction is 80Gs<B<90Gs, starting current feed exports as 10A, when magnetic induction is B>100Gs, electromagnet power supply control module close current exports, current feed exports as 0A.The change of the magnetic induction that speed control unit feeds back according to the Hall element of capsule endoscope adjusts its speed of service in the intestines and stomach, makes it keep low cruise.Be appreciated that current feed can be divided into some gears, also can carry out the adjustment of feed gear according to different demands, to adjust the magnetic attraction suffered by capsule endoscope in real time, and then adjust its real time acceleration.
During firm startup solenoid, because the relative distance of capsule endoscope distance solenoid is comparatively far away, captivation is more weak, and at this moment, setting solenoid carries out work with maximum current, to attract and to affect capsule endoscope; When capsule endoscope is subject to the electromagnetic attraction of solenoid, start to run to the intestines and stomach wall direction, due to its furthering of distance each other, electromagnetic attraction is according to its Magnetic Induction Density Distribution curve, start to strengthen gradually, it is increasing that capsule endoscope runs acceleration; When the magnetic induction value that the reception control module of outside receives capsule endoscope sharply increases, immediately by electromagnet power supply control module, the feed current of solenoid is reduced in real time by degenerative mode, thus reduction electromagnetic attraction, reduce the operation acceleration of capsule endoscope, thus ensure that its speed of service is unlikely to too fast, ensure the definition of output image, be conducive to the analysis of view data.By above-mentioned control system, not only can control the speed of service adjusting capsule endoscope in real time, and the spacing that can calculate between capsule endoscope and the intestines and stomach wall runs accekeration with it.
Claims (4)
1. the control system of the speed of service in capsule endoscope body, is characterized in that comprising:
Capsule endoscope, it is provided with first microprocessor and the Hall element be electrically connected with it, rf modulations chip, by the magnetic induction of capsule endoscope position under Hall element real time record, transfers to rf modulations chip and carries out signal transmission;
Speed control unit, is placed in external, comprises reception control module and the solenoid of electric connection;
Wherein, receive control module and comprise the second microcontroller and the electromagnet power supply control module be electrically connected with it, radio demodulating module, electromagnet power supply control module is electrically connected with solenoid;
When electromagnet power supply control module drives solenoid energising to generate an electromagnetic field, capsule endoscope in body is by magneticaction and gradually near the intestines and stomach inwall, and by the magnetic induction of Hall element record capsule endoscope position, the radio demodulating module receiving control module is sent to via rf modulations chip, and by radio demodulating module transfer to the second microcontroller, according to setting, second microcontroller requires that DM energy supply control module controls the size of solenoid adjustment electromagnetic field, to control the movement velocity of capsule endoscope in the intestines and stomach according to the change of fed back magnetic induction.
2. the control system of the speed of service in capsule endoscope body according to claim 1, it is characterized in that comprising: in the second microcontroller, when the magnetic induction value that radio demodulating module is transmitted is greater than setting magnetic induction value, then send reduce-speed sign to electromagnet power supply control module, drive it to reduce electric current to export, to reduce the electromagnetic force of solenoid; Otherwise, when the magnetic induction value that radio demodulating module is transmitted is less than setting magnetic induction value, then sends signal for faster to electromagnet power supply control module, drive it to improve electric current, to improve the electromagnetic force of solenoid.
3. the control system of the speed of service in capsule endoscope body according to claim 2, it is characterized in that comprising: the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, as magnetic induction density B <60Gs, starting current feed exports as 30A, when magnetic induction is 60Gs<B<80Gs, starting current feed exports as 20A, when magnetic induction is 80Gs<B<90Gs, starting current feed exports as 10A, when magnetic induction is B>100Gs, electromagnet power supply control module close current exports, current feed exports as 0A.
4. the control system of the speed of service in the capsule endoscope body according to any one of claim 1-3, it is characterized in that: in described magnetic induction value embedded images data, using the pixel compartments that colors in view data as labelling, be sent to reception control module in the lump 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 |
| US10478373B2 (en) * | 2016-04-18 | 2019-11-19 | Ankon Medical Technologies (Shanghai) Co., Ltd | In vivo device and method of using the same |
| CN106805933A (en) * | 2016-12-12 | 2017-06-09 | 广东探金电子科技有限公司 | A kind of intelligent magnetic control capsule lens |
| CN106963324B (en) * | 2017-03-28 | 2019-05-14 | 重庆金山医疗器械有限公司 | A kind of presumption method and device of capsule endoscope position |
| CN108186017B (en) * | 2017-11-30 | 2020-10-02 | 北京理工大学 | Detection system and method for determining in-vivo pose of endoscope capsule |
| CN114052621A (en) * | 2019-06-17 | 2022-02-18 | 深圳硅基智控科技有限公司 | Magnetic control device for improving moving path of capsule endoscope |
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| CN101530326A (en) * | 2008-03-10 | 2009-09-16 | 奥林巴斯医疗株式会社 | Capsule guiding system |
| 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 |
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| CN103222841A (en) | 2013-07-31 |
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