CN105852783A - Capsule endoscope control system - Google Patents
Capsule endoscope control system Download PDFInfo
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- CN105852783A CN105852783A CN201610254857.5A CN201610254857A CN105852783A CN 105852783 A CN105852783 A CN 105852783A CN 201610254857 A CN201610254857 A CN 201610254857A CN 105852783 A CN105852783 A CN 105852783A
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- Prior art keywords
- capsule endoscope
- control
- capsule
- magnet
- control system
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- 239000002775 capsule Substances 0.000 title claims abstract description 176
- 210000001035 gastrointestinal tract Anatomy 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 62
- 230000005484 gravity Effects 0.000 claims description 5
- 230000008520 organization Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000003292 glue Substances 0.000 description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000029087 digestion Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000010643 digestive system disease Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 208000008918 voyeurism Diseases 0.000 description 1
Classifications
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00105—Constructional details of the endoscope body characterised by modular construction
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
-
- 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
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Gastroenterology & Hepatology (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a capsule endoscope control system. The system comprises a capsule endoscope used for acquiring digestive tract information of a to-be-tested person, a capsule control device and a control terminal, wherein a permanent magnet is arranged in the capsule endoscope; the capsule control device is used for controlling movement of the capsule endoscope through the permanent magnet; the control terminal is used for receiving and displaying the digestive tract information and the position information of the capsule endoscope and controlling the capsule control device to work. After the capsule control device controls the capsule endoscope to move to a first to-be-tested position, the capsule endoscope can send the digestive tract information of the first to-be-tested position to the control terminal for display, and a medical worker can clearly observe the digestive tract condition of the to-be-tested person. Then the capsule endoscope is moved to a second to-be-tested position for detection and sends digestive tract information to the control terminal, accordingly, all to-be-tested positions can be detected, the control terminal can also display the position of the capsule endoscope, and movement of the capsule endoscope can be controlled more accurately and more conveniently.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to a kind of capsule endoscope and control system
System.
Background technology
Along with the progress of science and technology, medical apparatus and instruments have also been obtained the biggest development, wherein, glue
Capsule endoscope is as the apparatus of diagnosis of digestive disease, due to painless, without cross infection, not shadow
The advantages such as the orthobiosis of sound patient or work, have obtained using widely.Capsule endoscope leads to
Cross person under inspection to be administered orally, make it move in digestive tract by peristalsis of the digest tract, by peeping in capsule
The shooting of mirror and signal transmitting apparatus, doctor can be subject to by the monitor understanding that person under inspection is external
The digestive tract situation of inspection person.
But, current capsule endoscope usually relies on the wriggling of the intestines and stomach and moves, because of
This capsule endoscope moving and the control of time not examinate person inside stomach, so checking
The most passive, such as: if capsule endoscope quickly enters small intestinal, it is difficult to stomach is carried out in detail
Examining is looked into.
The most accurately control capsule endoscope motion in digestive tract, be art technology
Personnel are badly in need of solving the technical problem that.
Summary of the invention
It is an object of the invention to provide a kind of capsule endoscope control system, can accurately control glue
The motion in digestive tract of the capsule endoscope.
For solving above-mentioned technical problem, the technical scheme is that
A kind of capsule endoscope control system, including:
For gathering the capsule endoscope of the digestive tract information of person to be measured, it is provided with in capsule endoscope
Permanent magnet and locating module；
The capsule being controlled capsule endoscope motion by permanent magnet controls equipment；
For receiving and show the positional information of digestive tract information and capsule endoscope, and control
Capsule controls the control terminal of equipment work.
Preferably, capsule control equipment includes:
Control the active Magnet of capsule endoscope motion；
For controlling the robot arm of actively magnet movement；
Bottom is provided with the switch board of roller, and switch board is provided with control robot arm at horizontal plane
The rotating mechanism of interior rotation；
Drive the driver that rotating mechanism and/or described robot arm run；
It is arranged in described switch board, receives the control signal controlling terminal, and send corresponding control
System order is to the controller of described driver.
Preferably, robot arm includes:
By horizontally hinged axle and the magnet support frame that actively Magnet is connected；
Control the swing arm that rotates at horizontal plane of magnet support frame, magnet support frame by vertical articulation axle and
Swing arm connects, and swing arm is provided with and controls the Magnet switching mechanism that horizontally hinged axle rotates, in swing arm
It is provided with and controls the Magnet rotating mechanism that vertical articulation axle rotates.
Preferably, described robot arm also includes:
Control the described swing arm oscillating arm mechanisms at horizontal rotation in surface；
Control to be in when described oscillating arm mechanisms moves up and down the level-ling mechanism of level；
Control the elevation control mechanism therefor that described level-ling mechanism swings up and down；
Described elevation control mechanism therefor is connected with described rotating mechanism.
Preferably, capsule control equipment is provided with detection main magnet to the distance between person to be measured
Range sensor.
Preferably, control terminal to include:
The operating platform of control signal is sent to controller；
Receive digestive tract information and the positional information of capsule endoscope, and by digestive tract information and glue
The positional information of capsule endoscope is sent to the capsule signal receiver of described operating platform.
Preferably, capsule endoscope includes:
Gather the camera lens of gastral image information；
Image information is sent to the radio-frequency module of capsule signal receiver；
The battery module being connected with locating module and permanent magnet.
Preferably, operating platform includes: the first display of display digestive tract information and display glue
The positional information second display of capsule endoscope.
Preferably, locating module includes:
Detection capsule endoscope is to the magnetic field processor of distance between active Magnet；
Detector lens towards Gravity accelerometer.
Preferably, also include: support the sick bed of person to be measured, be provided with control sick bed bottom sick bed and move
Controlling organization that is dynamic and that overturn.
Compared with prior art, technique scheme has the advantage that
A kind of capsule endoscope control system provided by the present invention, including: it is used for gathering to be measured
The capsule endoscope of the digestive tract information of person, is provided with permanent magnet in capsule endoscope；Pass through permanent magnetism
Ferrum controls the capsule of capsule endoscope motion and controls equipment；For receiving and showing digestive tract information
With the positional information of capsule endoscope, and control capsule control equipment work control terminal.
Person to be measured capsule endoscope is swallowed internal after, medical personnel by capsule control equipment control
Behind capsule endoscope motion to first position to be measured, capsule endoscope can will detect
The digestive tract information of one position to be measured is sent to control terminal and show, it is possible to make medical care
Personnel are clearly observed the digestive tract situation of person to be measured.Then capsule endoscope is moved to second
Individual position to be measured is detected, and send digestive tract information to control terminal, can detect according to this
Whole positions to be measured, wherein controls terminal and can also show the position of capsule endoscope, therefore
Can more accurately and easily control the motion of capsule endoscope.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing used required in embodiment or description of the prior art will be briefly described, aobvious and
Easily insight, the accompanying drawing in describing below is some embodiments of the present invention, common for this area
From the point of view of technical staff, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
The capsule endoscope control system machine that Fig. 1 is provided by a kind of detailed description of the invention of the present invention
Structure schematic diagram；
The structural representation of the capsule endoscope that Fig. 2 is provided by a kind of detailed description of the invention of the present invention
Figure.
Detailed description of the invention
A kind of capsule endoscope control system provided by the present invention, person to be measured is by capsule endoscope
Swallow internal after, medical personnel control equipment by capsule and control capsule endoscope motion to the
Behind one position to be measured, the digestion of first position to be measured that capsule endoscope can will detect
Road information is sent to control terminal and show, it is possible to makes medical personnel be clearly observed and treats
The digestive tract situation of survey person.Then move capsule endoscope to second position to be measured to detect,
And send digestive tract information to control terminal, whole positions to be measured can be detected according to this, wherein
Control terminal and can also show the position of capsule endoscope, therefore can more accurately and easily
Control the motion of capsule endoscope.
Understandable in order to enable the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below
In conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.
Elaborate detail in the following description so that fully understanding the present invention.But this
Bright can be different from alternate manner described here implement with multiple, those skilled in the art can
To do similar popularization in the case of intension of the present invention.Therefore the present invention is not by following public affairs
The restriction of the detailed description of the invention opened.
Refer to the glue that Fig. 1 and Fig. 2, Fig. 1 are provided by a kind of detailed description of the invention of the present invention
Capsule endoscope control system structural scheme of mechanism；Fig. 2 is carried by one detailed description of the invention of the present invention
The structural representation of the capsule endoscope of confession.
A kind of detailed description of the invention of the present invention provides a kind of capsule endoscope control system, bag
Include: for gathering the capsule endoscope 13 of the digestive tract information of person to be measured, capsule endoscope 13
Inside it is provided with permanent magnet 9 and locating module 4；Control capsule endoscope 13 by permanent magnet 9 to move
Capsule control equipment 10；For receiving and show digestive tract information and capsule endoscope 13
Positional information, and control the control terminal 12 of capsule control equipment 10 work.
In the present embodiment, person to be measured capsule endoscope 13 is swallowed internal after, medical care people
Member controls equipment 10 by capsule and controls after capsule endoscope 13 moves to first position to be measured,
The digestive tract information of detect first position to be measured can be sent to by capsule endoscope 13
Control terminal 12 and show, it is possible to making medical personnel be clearly observed the digestion of person to be measured
Road situation.Then move capsule endoscope 13 to the second position to be measured to detect, and send
Digestive tract information, to controlling terminal 12, can detect whole positions to be measured according to this, wherein control
Terminal 12 can also show capsule endoscope 13 by the signal sent with locating module 4
Position, therefore more accurately and can control the motion of capsule endoscope 13 easily.
In the present embodiment, by the locating module 4 in capsule endoscope 13, glue can be obtained
The capsule endoscope 13 positional information in person's digestive tract to be measured, controls terminal 12 by capsule
Sight glass 13 location information can more precisely control capsule endoscope 13 at digestive tract
Interior motion.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule controls equipment
10 include: control the active Magnet 23 of capsule endoscope 13 motion；For controlling actively Magnet
The robot arm of 23 motions；Bottom is provided with the switch board 25 of roller 26, and switch board 25 sets
There is the rotating mechanism 15 controlling robot arm at horizontal rotation in surface；Drive rotating mechanism 15
And/or the driver that robot arm runs；It is arranged in described switch board, receives and control terminal
The control signal of 12, and send the corresponding control command controller to described driver.
In the present embodiment, by controlling terminal 12 to controller transmission control capsule endoscope
13 control signals moving or rotating, then controller sends control according to control signal to driver
System order, then driver drives rotating mechanism 15 runs, so that robot arm is in level
Rotating in face, wherein rotating mechanism 15 includes the base 14 supporting robot arm, works as machine
Human arm arrives specific bit and postpones, and robot arm moves by controlling actively Magnet 23, causes
Actively Magnet 23 produces active force to the permanent magnet 9 in capsule endoscope 13, so that permanent magnetism
Ferrum 9 drives capsule endoscope 13 to move in digestive tract, and wherein actively Magnet 23 is preferably ball
Shape or the Magnet of subglobular, because the Distribution of Magnetic Field ratio on each surface of spherical magnet is more uniform,
The N of Magnet is the most above, and S pole is positioned at lower section.Wherein, the bottom of switch board 25 is provided with
Roller 26, therefore can be moved easily capsule and control equipment 10.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, robot arm bag
Include: by horizontally hinged axle and the magnet support frame 22 that actively Magnet 23 is connected；Control Magnet
The swing arm 21 that bracing frame 22 rotates at horizontal plane, magnet support frame 22 by vertical articulation axle with
Swing arm 21 connects, and swing arm 21 is provided with and controls the Magnet switching mechanism 19 that horizontally hinged axle rotates,
Swing arm 21 is provided with and controls the Magnet rotating mechanism 18 that vertical articulation axle rotates；Control swing arm 21
Oscillating arm mechanisms 17 at horizontal rotation in surface；Control to be in water when oscillating arm mechanisms 17 moves up and down
The level-ling mechanism 20 of level state；Control the height control that level-ling mechanism 20 swings up and down
Mechanism 16 processed；Elevation control mechanism therefor 16 is connected with rotating mechanism 15.
In the present embodiment, active Magnet 23 is hinged on magnet support by horizontally hinged axle
Frame 22, the most horizontally hinged axle can pass the axis of actively Magnet 23, and by active magnetic
Ferrum 23 is fixed on horizontally hinged axle, can be controlled by the Magnet switching mechanism 19 in swing arm 21
The flat jointed shaft of controlling the water circulation is rotatable around its axis, and then can overturn actively Magnet 23, thus exchanges
The actively N pole of Magnet 23 and the position of S pole.By the Magnet rotating mechanism in swing arm 21
18 can control magnet support frame 22 rotates around vertical articulation axle, and then can make active magnetic ferrum
23 rotate around vertical articulation axle.Swing arm 21 can be made in horizontal plane inward turning by oscillating arm mechanisms 17
Turn, so that actively Magnet 23 rotates in horizontal plane.It is water by elevation control mechanism therefor 16
Flat maintaining body 20 provides power, and wherein level-ling mechanism 20 can be parallelogram frame
Structure, is horizontally fixed on the base of parallelogram framework on elevation control mechanism therefor 16, the highest
Degree controlling organization 16 controls adjacent with the base of parallelogram framework while rotation, now puts down
The top of row tetragon remains level and can move up and down, therefore by oscillating arm mechanisms
17 are fixed on the top with the parallelogram i.e. height of adjustable oscillating arm mechanisms 17, and begin
Be horizontal eventually so that and oscillating arm mechanisms 17 connect swing arm 21 be in horizontal position
Put, and then make actively Magnet 23 remain level when moving up and down.By Altitude control
Mechanism 16 is connected with rotating mechanism 15, and elevation control mechanism therefor 16 can be made to rotate in horizontal plane,
So that level-ling mechanism 20 and connected oscillating arm mechanisms 17 can also be at horizontal planes
Interior rotation, therefore can make active magnetic ferrum 23 move freely in horizontal plane, it is to avoid traditional
Just can make active Magnet 23 in horizontal plane by cross slide way, longitudinal rail and vertical guide rail
The bulky structure moved freely.
In the present embodiment, elevation control mechanism therefor is commented to control the first day of the lunar month by the rotation of motor internal
Maintaining body swings up and down, thus controls moving up and down of active Magnet, thus determines z-axis side
Position to (vertical direction)；Oscillating arm mechanisms along axle rotate time, swing arm can be made in the horizontal direction
Moving in a circle, oscillating arm mechanisms determines the actively horizontal x of Magnet, y-axis side together with rotating mechanism
To position.Thus, come by the motion of rotating mechanism, elevation control mechanism therefor and oscillating arm mechanisms
Determine the space coordinates of actively Magnet, thus accurately control the motion of capsule endoscope.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule controls equipment
10 are provided with detection actively Magnet 23 arrives the range sensor 24 of the distance between person to be measured.
In the present embodiment, by range sensor 24 detection actively Magnet 23 to person to be measured it
Between distance, capsule can be made to control equipment 10 and all the time and to keep certain safety between person to be measured
Distance, it is to avoid capsule controls equipment 10 scratch person to be measured, it is ensured that the safety of person to be measured, wherein
Range sensor 24 can pass through supersonic sounding or infrared distance measurement.
A kind of capsule endoscope 13 control system that the embodiment of the present invention is provided, controls terminal
12 include: send the operating platform 12 of control signal to controller；Receive digestive tract information and glue
The positional information of capsule endoscope 13, and the position of digestive tract information and capsule endoscope 13 is believed
Breath is sent to the capsule signal receiver 32 of operating platform 12.
In the present embodiment, control signal is sent by operating platform 12 to controller, wherein
Mobile action bars 30 and rotation process bar 31 can be set on operating platform 12, by movement
Action bars 30 sends to controller and controls the control signal that actively Magnet 23 moves, and controls machine
Human arm moves, and i.e. adjusts the rotation of rotating mechanism, elevation control mechanism therefor and oscillating arm mechanisms with essence
Determine the position actively Magnet coordinate in three directions of space x, y, z, by active Magnet and glue
The interaction of capsule endoscope inner magnet, can position capsule endoscope position in digestive tract
And attitude.The control control that actively Magnet 23 rotates is sent to controller by rotation process bar 31
Signal processed, adjusts Magnet switching mechanism and each spinning of Magnet rotating mechanism, to adjust actively
Magnet N, S pole distribution in space, thus adjust the attitude of capsule endoscope further,
Thus change the position of camera lens.Therefore medical personnel's operation control platform 12 it is easy to.Capsule is believed
Number receptor 32 is worn on person to be measured, can peep in conveniently receiving digestive tract information and capsule
The positional information of mirror 13.Wherein it is also provided with controlling capsule on operating platform and controls equipment 10
The on and off switch of work and emergency stop switch and other facilitate the control knob that medical personnel operate
29。
It should be noted that can in controller predetermined movement control module, motor control mould
Block can control capsule endoscope 13 by robot arm and both move in digestive tract
Location is put, and position control module judges whether this commitment positions is position to be measured, the most then open
This position to be measured is checked by dynamic capsule endoscope 13, and gathers corresponding digestive tract information,
Then by capsule signal receiver 32, digestive tract information is sent to control terminal 12 show
Show, position and the attitude information of capsule endoscope 13 are sent to controller, by controller
After the position of capsule endoscope 13 and attitude information are processed by position control module, by control
Terminal 12 processed shows, then moves capsule endoscope 13 to next position to be measured；If
No, then continue through robot arm control capsule endoscope 13 and move in digestive tract, until
Stopping in position to be measured, therefore constitutes the feedback system of a closed loop, and capsule endoscope 13 gathers
After the digestive tract information of complete all of position to be measured, to last both controlled capsule endoscope 13
When location is put, detection terminates.Therefore, by being provided with the controller of motion-control module, permissible
Realize automatically controlling of capsule endoscope 13, it is to avoid Artificial Control is caused due to the shake of hands
The coarse problem in location, but Non-follow control can make medical personnel to pay close attention to position enter
Row rechecking, therefore automatically controls the combination with Non-follow control and medical personnel can be made more accurate
Ground obtains the digestive tract information of person to be measured.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule endoscope 13
Including: gather the camera lens 1 of gastral image information；Image information is sent to capsule signal
The radio-frequency module 5 of receptor 32；The battery module 7 being connected with locating module 4 and permanent magnet 9.
In the present embodiment, by radio-frequency module 5 by by the camera lens 1 of capsule endoscope 13
The image information collected is sent to capsule signal transceiver 32, wherein can pass through image sensing
The analogue signal of capsule image is converted to digital signal, radio frequency by device 2 and image processing module 3
Digital data transmission to capsule signal receiver 32, battery module 7 can be given by module 5 respectively
Locating module 4 and permanent magnet 9 provide electric power, capsule endoscope 13 also to include a capsule shell
6, and the optics protecgulum 8 docked with capsule shell 6, optics protecgulum 8 can protect camera lens 1
Gather gastral image information.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, operating platform 12
Including: the first display 28 of display digestive tract information and the position of display capsule endoscope 13
Information second display 27.
In the present embodiment, by digestive tract information being shown at the first display 28, by capsule
The positional information of endoscope 13 shows on second display 27, on the one hand can make medical care people
Member is visually observed that digestive tract information and the positional information of capsule endoscope 13, on the other hand can
So that information is clearly distinguished, it is to avoid maloperation.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, locating module 4 wraps
Include: the magnetic field processor of the distance between detection capsule endoscope 13 to actively Magnet 23；Inspection
Survey camera lens towards Gravity accelerometer.
In the present embodiment, magnetic field processor can be by magnetic field sensor detection actively Magnet 23
To the magnetic force of magnetic field sensor, magnetic force includes magnetic force size and direction vector, passes through formula of magnetic field
Algorithm draws the capsule endoscope 13 distance to actively Magnet 23, and Gravity accelerometer can
To detect the attitude of capsule endoscope 13, so that it is determined that the court of the camera lens 1 of capsule endoscope 13
To.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, also includes: support
The sick bed 11 of person to be measured, is provided with bottom sick bed 11 and controls the control machine that sick bed 11 moves and overturns
Structure.
In the present embodiment, sick bed 11 can be made to move and overturn, therefore by controlling organization
The center of gravity of the person to be measured being positioned on sick bed 11 can be adjusted, make capsule endoscope 13 disappearing
Move in changing road.
In sum, the capsule endoscope control system that the embodiment of the present invention is provided, person to be measured
Capsule endoscope is swallowed internal after, medical personnel control equipment by capsule and control in capsule
After sight glass moves to first position to be measured, detect first can be treated by capsule endoscope
The digestive tract information that location is put is sent to control terminal and show, it is possible to make medical personnel clear
Observe to Chu the digestive tract situation of person to be measured.Then capsule endoscope is moved to be measured to second
Position is detected, and send digestive tract information to control terminal, can detect whole according to this
Position to be measured, wherein controls terminal and can also show the position of capsule endoscope, therefore can be more
Add the motion controlling capsule endoscope accurately and easily.
Above a kind of capsule endoscope control system provided by the present invention is described in detail.
Principle and the embodiment of the present invention are set forth by specific case used herein, above
The explanation of embodiment is only intended to help to understand the core concept of the present invention.It should be pointed out that, for
For those skilled in the art, under the premise without departing from the principles of the invention, also
The present invention can be carried out some improvement and modification, these improve and modification also falls into present invention power
In the protection domain that profit requires.
Claims (10)
1. a capsule endoscope control system, it is characterised in that including:
For gathering the capsule endoscope of the digestive tract information of person to be measured, in described capsule endoscope
It is provided with permanent magnet and locating module；
The capsule being controlled described capsule endoscope motion by described permanent magnet controls equipment；
For receiving and showing described digestive tract information and the positional information of described capsule endoscope,
And control the control terminal of described capsule control equipment work.
Capsule endoscope control system the most according to claim 1, it is characterised in that
Described capsule controls equipment and includes:
Control the active Magnet of described capsule endoscope motion；
For controlling the robot arm of described active magnet movement；
Bottom is provided with the switch board of roller, and described switch board is provided with the described robot arm of control
Rotating mechanism at horizontal rotation in surface；
Drive the driver that described rotating mechanism and/or described robot arm run；
It is arranged in described switch board, receives the control signal of described control terminal, and send phase
Answer control command to the controller of described driver.
Capsule endoscope control system the most according to claim 2, it is characterised in that
Described robot arm includes:
The magnet support frame being connected with described active Magnet by horizontally hinged axle；
Controlling the swing arm that described magnet support frame rotates at horizontal plane, described magnet support frame passes through
Vertical articulation axle is connected with described swing arm, and described swing arm is provided with the described horizontally hinged axle of control and turns
Dynamic Magnet switching mechanism, described swing arm is provided with and controls the Magnet that described vertical articulation axle rotates
Rotating mechanism.
Capsule endoscope control system the most according to claim 3, it is characterised in that
Described robot arm also includes:
Control the described swing arm oscillating arm mechanisms at horizontal rotation in surface；
Control to be in when described oscillating arm mechanisms moves up and down the level-ling mechanism of level；
Control the elevation control mechanism therefor that described level-ling mechanism swings up and down；
Described elevation control mechanism therefor is connected with described rotating mechanism.
Capsule endoscope control system the most according to claim 4, it is characterised in that
Described capsule control equipment is provided with and detects described main magnet to the distance between described person to be measured
Range sensor.
Capsule endoscope control system the most according to claim 5, it is characterised in that
Described control terminal includes:
The operating platform of described control signal is sent to described controller；
Receive described digestive tract information and the positional information of described capsule endoscope, and disappear described
The positional information changing road information and described capsule endoscope is sent to the capsule letter of described operating platform
Number receptor.
Capsule endoscope control system the most according to claim 6, it is characterised in that
Described capsule endoscope includes:
Gather the camera lens of described gastral image information；
Described image information is sent to the radio-frequency module of described capsule signal receiver；
The battery module being connected with described locating module and described permanent magnet.
Capsule endoscope control system the most according to claim 7, it is characterised in that
Described operating platform includes:
Show the first display of described digestive tract information and show the position of described capsule endoscope
Confidence breath second display.
Capsule endoscope control system the most according to claim 1, it is characterised in that
Described locating module includes:
Detect the described capsule endoscope magnetic field processor to the distance between described active Magnet；
Detect described camera lens towards Gravity accelerometer.
10. according to the capsule endoscope control system described in any one of claim 1 to 9, its
It is characterised by, also includes: support the sick bed of described person to be measured, bottom described sick bed, be provided with control
The controlling organization that described sick bed moves and overturns.
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| CN201610254857.5A CN105852783B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope control system |
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| CN106618456A (en) * | 2016-12-21 | 2017-05-10 | 重庆金山医疗器械有限公司 | Capsule endoscope control system |
| CN106691366A (en) * | 2016-12-13 | 2017-05-24 | 重庆金山医疗器械有限公司 | Controllable capsule endoscopy control method |
| CN106725272A (en) * | 2016-12-21 | 2017-05-31 | 重庆金山医疗器械有限公司 | Automatic scanning method of the capsule endoscope in biological cavities |
| CN107049213A (en) * | 2017-03-28 | 2017-08-18 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope control method and device |
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| CN115067863A (en) * | 2022-05-31 | 2022-09-20 | 元化智能科技(深圳)有限公司 | Wireless capsule endoscope driving system based on spherical driver |
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| WO2024008042A1 (en) * | 2022-07-04 | 2024-01-11 | 安翰科技(武汉)股份有限公司 | Method for quantitatively controlling first viewing angle of capsule endoscope, system and storage medium |
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