CN111481153A - Capsule endoscope control system and control method thereof - Google Patents

Abstract

The application discloses capsule endoscope control system and control method thereof, capsule endoscope control system includes support, cantilever, rotating assembly and first translation subassembly, and the cantilever is connected in the support, is provided with magnetic control device on the cantilever, and rotating assembly is used for driving the support rotation, and first translation subassembly is used for driving support or magnetic control device translation, and first translation subassembly and rotating assembly can cooperate the two-dimensional space position of adjusting magnetic control device. In this application, realized the removal of magnetic control device in certain extent through rotatory subassembly, avoided needing to build two sets of translation subassemblies in the bottom, and form complicated set structure, this application only can accurately adjust magnetic control device's two-dimensional space position through a translation subassembly and rotating assembly for entire system is with low costs, and the precision is high.

Description

Capsule endoscope control system and control method thereof

Technical Field

The application relates to the technical field of capsule endoscope equipment, in particular to a capsule endoscope control system and a control method thereof.

Background

At present, the capsule endoscope is used for routine examination of the human digestive tract, and is an advanced examination means in the market. Swallowing a capsule endoscope does not cause physical and psychological discomfort to the examiner, and also reduces the possibility of cross-infection, compared to inserting a conventional electronic endoscope.

Among the prior art, capsule endoscope control system includes triaxial displacement base and connects in the magnetic control device of triaxial displacement base, magnetic control device has two degrees of freedom, capsule endoscope control system integral regulation magnetic control device can have five degrees of freedom, this triaxial displacement base can drive magnetic control device free motion in three direction, wherein, triaxial displacement base is provided with X axle translation subassembly, Y axle translation subassembly and Z axle translation subassembly, this undoubtedly causes the whole volume of capsule endoscope system great, the complicated equipment of structure is loaded down with trivial details, and the price is more expensive.

Disclosure of Invention

The application aims to provide a capsule endoscope control system and a control method thereof, so that the structure of the whole capsule endoscope is simplified, and the position of a magnetic control device can be accurately adjusted.

The above and other objects are achieved by the features of the independent claims. Further implementations are presented in the dependent claims, the description and the drawings.

In a first aspect, the application provides a capsule endoscope control system, including support, cantilever, rotating assembly and first translation subassembly, the cantilever is connected in the support, is provided with magnetic control device on the cantilever, and rotating assembly is used for driving the support rotatory, and first translation subassembly is used for driving support or magnetic control device translation, and capsule endoscope control system control first translation subassembly translation and/or rotating assembly rotate in order to adjust magnetic control device's two-dimensional space position.

In this application, realized the removal of magnetic control device in certain extent through rotatory subassembly, avoided needing to build two sets of translation subassemblies in the bottom, and form complicated set structure, this application only can accurately adjust magnetic control device's two-dimensional space position through a translation subassembly and rotating assembly for entire system is with low costs, and the precision is high.

Preferably, the rotating assembly comprises a base, a rotary bearing and a driving part, the rotary bearing is mounted on the base, the bracket is connected to the rotary bearing, and the driving part is connected to the rotary bearing or the bracket in a driving manner, so that the bracket drives the magnetic control device to rotate.

In the scheme, the rotary bearing is used for realizing the movement of the magnetic control device in a certain range, and the rotary bearing has the advantages of simple structure, small volume, no space occupation, convenient installation and improvement on the cost performance of the capsule endoscope control system.

Preferably, the slewing bearing comprises an inner ring and an outer ring, the inner ring is fixedly connected to the base body, the bracket is connected to the outer ring, and the driving part is connected to the outer ring in a driving mode, so that the outer ring drives the bracket to rotate.

Specifically, the driving part comprises a first motor and a worm connected to the first motor, a tooth groove is formed in the outer peripheral surface of the outer ring, and the worm is meshed with the outer ring.

In the above scheme, the first motor drives the worm to rotate, the worm drives the outer ring to rotate, the outer ring drives the support to rotate, the position of the magnetic control device is adjusted, and the driving structure is simpler and more practical relative to the translation assembly.

Preferably, the first translation assembly is arranged on the cantilever, the magnetic control device is connected to the first translation assembly, and the first translation assembly drives the magnetic control device to translate along the extension direction of the cantilever.

In the above scheme, the first translation assembly is arranged on the cantilever, so that the space is not occupied, the base of the rotation assembly can be directly fixed on the floor, a sliding rail structure is not required to be arranged on the floor, and a large amount of space is saved.

Preferably, the cantilever includes dodging the strip groove, and first translation subassembly extends the setting along dodging the strip groove, and magnetic control device includes the link and installs the shell of magnet, and the link is connected in first translation subassembly, and the shell is connected in the link, and first translation subassembly drive link to drive the shell along the cantilever translation.

In the scheme, the connecting frame can be arranged on the cantilever by arranging the avoidance bar groove, and the shell part is at least partially positioned below the cantilever and is provided with the magnet, so that the capsule endoscope with the magnet can be driven to move.

Preferably, the first translation assembly comprises a lead screw and a second motor; the lead screw extends along the arm length direction of the cantilever and is in threaded connection with the connecting frame; the second motor is connected with the lead screw in a driving mode.

In the above scheme, the second motor drives the lead screw to rotate, the lead screw drives the upper shell to move along the extending direction of the avoiding bar groove, the position of the magnet in the magnetic control device is adjusted, the structure is simple, and the transmission stability is high.

In another aspect, the first translation assembly includes a conveyor belt and a second motor; the conveyor belt extends along the arm length direction of the cantilever; the connecting frame is connected with the conveying belt; the second motor is connected with the conveyor belt in a driving mode.

In the scheme, the second motor drives the conveyor belt to run, the upper shell is fixedly connected to the conveyor belt, and the conveyor belt drives the magnetic control device to move along the cantilever.

Preferably, the cantilever comprises a guide rail, the guide rail extends along the length direction of the cantilever, and the magnetic control device is connected to the guide rail in a sliding manner.

In the above scheme, guide rails can be arranged on two sides of the avoidance bar groove, and the connecting frame can be slidably connected to the guide rails. The upper portion casing slidable sets up in the guide rail, and the cantilever has supporting role to the upper portion casing, and upper portion casing and cantilever sliding fit, and at the removal in-process along the cantilever, frictional force is little, has reduced translation subassembly's pressure.

Preferably, the first translation assembly comprises a slide rail, a lead screw and a third motor; the rotating assembly is slidably mounted on the sliding rail, the screw rod is in threaded connection with the rotating assembly, and the third motor is in driving connection with the screw rod; the bracket is connected with the rotating assembly; the lead screw drives the rotating assembly to move so as to drive the support to translate.

In this arrangement, the first translation assembly may be mounted on the floor, disposed adjacent to the examination table, and occupy only a small amount of space.

In a second aspect, the present application also provides a control method of the capsule endoscope control system, including: the capsule endoscope control system controls the first translation assembly to translate and/or controls the rotating assembly to rotate, and the two-dimensional space position of the magnetic control device is adjusted.

Preferably, the capsule endoscope control system determines the movement displacement of the magnetic control device according to the rotation angle of the rotating assembly in the process of controlling the rotating assembly to rotate;

the capsule endoscope control system calculates the movement displacement of the magnetic control device through the following formula;

the distance △ X that the magnetron is moved in the first direction is L sin α;

the moving distance △ Y in the second direction of the magnetic control device is L cos α -L;

wherein α is the rotation angle of the rotation assembly, L is the distance between the magnetic control device and the bracket, and the first direction is perpendicular to the second direction.

In the scheme, the capsule endoscope control system can automatically calculate the movement displacement of the magnetic control device according to the rotation angle of the rotating assembly, and accurately control the position of the magnetic control device.

Preferably, the capsule endoscope control system also performs angle compensation on the magnet of the magnetic control device according to the rotating angle of the rotating assembly;

the angular compensation of the magnet of the magnetic control device comprises: and detecting the rotation angle of the rotating assembly, controlling the magnetic control device to drive the magnet to rotate by a corresponding angle, and compensating the deflection angle of the magnet.

In the above scheme, during the rotation of the rotating assembly, the magnet on the magnetic control device has a certain deflection angle, so the capsule endoscope control system needs to correct the deflection angle to ensure that the capsule endoscope with the magnet is accurately controlled.

The technical scheme provided by the application can achieve the following beneficial effects:

in this application, capsule endoscope control system includes support, cantilever, rotating assembly and first translation subassembly, and the cantilever is connected in the support, is provided with magnetic control device on the cantilever, and rotating assembly is used for driving the support rotation, and first translation subassembly is used for driving support or magnetic control device translation, and first translation subassembly and rotating assembly can cooperate the two-dimensional space position of adjusting magnetic control device. In this application, realized the removal of magnetic control device in certain extent through rotatory subassembly, avoided needing to build two sets of translation subassemblies in the bottom, and form complicated set structure, this application only can accurately adjust magnetic control device's two-dimensional space position through a translation subassembly and rotating assembly for entire system is with low costs, and the precision is high.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

FIG. 1 is a schematic diagram of a first perspective view of a capsule endoscope control system provided by an embodiment of the present application;

FIG. 2 is a schematic view of the assembled structure of the lower support and the rotating assembly of FIG. 1;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a schematic sectional view taken along line A-A in FIG. 3;

FIG. 5 is a schematic structural diagram of the cantilever of FIG. 1;

FIG. 6 is a schematic diagram of a second perspective view of a capsule endoscope control system provided by an embodiment of the present application;

fig. 7 is a schematic diagram illustrating a change in position of a magnetic control device during rotation of a rotary component in a capsule endoscope control system according to an embodiment of the present disclosure.

Reference numerals:

100-capsule endoscope control system;

1-a scaffold;

11-an upper assembly;

12-a lower support;

13-a second translation assembly;

2-a cantilever;

21-avoiding bar grooves;

22-a guide rail;

3-a magnetic control device;

31-a connecting frame;

32-shell portion;

4-a rotating assembly;

41-seat body;

42-a slew bearing;

421-inner ring;

422-outer ring;

43-a drive member;

431-a first motor;

432-worm;

5-a first translation component;

51-a lead screw;

52-a second motor;

53-a slide rail;

6-examining the bed;

7-control panel.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Detailed description of the preferred embodiments

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be noted that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present application are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element via an intermediate element.

At present, the capsule endoscope is used for routine examination of the human digestive tract, which is an advanced examination means in the market. Swallowing a capsule endoscope does not cause physical and psychological discomfort to the examiner, and also reduces the possibility of cross-infection, compared to inserting a conventional electronic endoscope.

Among the prior art, capsule endoscope control system includes triaxial displacement base, and triaxial displacement base is provided with X axle translation subassembly, Y axle translation subassembly and Z axle translation subassembly, and the structure of three sets of translation subassemblies causes the whole volume of capsule endoscope control system undoubtedly great, and the structure is complicated, and the equipment is loaded down with trivial details, and the price is more expensive.

In view of the above, embodiments of the present application provide a capsule endoscope control system and a control method thereof, which can solve the above technical problems.

Referring to fig. 1, a schematic diagram of an overall structure of a capsule endoscope control system 100 according to an embodiment of the present application is provided, in which the capsule endoscope control system 100 can adjust a position and an angle of a capsule endoscope with a magnet, so as to control a movement of the capsule endoscope in a human body through a change of a magnetic field, so as to observe mucous membranes of different parts of a stomach of the human body. This capsule endoscope control system 100 includes support 1, cantilever 2, rotating assembly 4, first translation subassembly 5, inspection bed 6 and control panel 7, cantilever 2 is connected in support 1, be provided with magnetic control device 3 on cantilever 2, magnetic control device 3 is located the top of inspection bed 6, rotating assembly 4 is used for driving support 1 rotatory, first translation subassembly 5 is used for driving support 1 or magnetic control device 3 translation, control panel 7 can receive the instruction, control first translation subassembly 5 and rotating assembly 4 motion regulation magnetic control device 3's two-dimensional spatial position, make magnetic control device 3 move to different positions above inspection bed 6, the motion of the capsule endoscope that accurate control has magnet in human stomach, in order to observe the gastric mucosa comprehensively.

In this application, realized the removal of magnetic control device 3 in certain extent through rotating assembly 4, avoided needing to build two sets of translation subassemblies in the bottom, and formed complicated set structure, this application only can accurately adjust magnetic control device 3's two-dimensional space position through a translation subassembly and rotating assembly 4 for entire system is with low costs, and the precision is high.

The capsule endoscope control system 100 of the present application may further include a second translation assembly 13, wherein the second translation assembly 13 may move the cantilever 2 closer to or away from the examination table 6. The second translation assembly 13 can be arranged on the support 1, so that a complex building structure cannot be formed between the first translation assembly 5 and the second translation assembly 13, the structure of the capsule endoscope control system is simplified, and the cost is reduced. The magnetic control device 3 is provided with a magnet and two motors, the two motors respectively drive the magnet to rotate towards two different directions, and therefore the movement of the magnet in the capsule endoscope control system has five degrees of freedom through the arrangement of the first translation assembly 5, the second translation assembly 13 and the rotating assembly 4 and the addition of the magnetic control device 3. The support 1 may include an upper assembly 11 and a lower support 12, and the second translation assembly 13 is disposed on the upper assembly 11 and extends in the longitudinal direction, so that no additional transmission structure is required, and the transmission chain of the second translation assembly 13 is shortened, thereby making the overall structure compact.

It should be noted that any structure capable of rotating the bracket 1 is within the scope of the present application. For example, referring to fig. 1 and fig. 2, the rotating assembly 4 may include a base 41, a rotary bearing 42 and a driving part 43, the rotary bearing 42 is installed on the base 41, the bracket 1 is connected to the rotary bearing 42, the driving part 43 is connected to the rotary bearing 42 or the bracket 1 in a driving manner so as to drive the bracket 1 to rotate, and after the bracket 1 rotates, the magnetic control device 3 is driven to move to any position on a circumference or an arc with a connection point of the bracket 1 and the cantilever 2 as a center.

It can be understood that, the translation assembly in one direction is replaced by the rotary bearing 42, the rotary bearing 42 has a simple structure, is small in size, does not occupy space, is convenient to install, and obviously improves the cost performance of the capsule endoscope control system compared with the translation assembly consisting of a guide rail and a lead screw.

Referring to fig. 3 and 4, in a possible embodiment, the slewing bearing 42 includes an inner ring 421 and an outer ring 422, the inner ring 421 is fixedly connected to the seat body 41, the bracket 1 is connected to the outer ring 422, and the driving part 43 is drivingly connected to the outer ring 422, so that the outer ring 422 drives the bracket 1 to rotate.

Specifically, the driving member 43 includes a first motor 431 and a worm 432 connected to the first motor 431, a spline is provided on an outer circumferential surface of the outer ring 422, and the worm 432 is engaged with the outer ring 422.

Wherein, the first motor 431 can be integrated with the slewing bearing 42, so that the structure is compact, and the space occupied by the whole framework is reduced, for example, the slewing bearing 42 further comprises a shell, and the first motor is installed on the shell, so that the first motor 431 and the slewing bearing are integrated into a whole, and the structure of the whole machine is simplified. The first motor 431 drives the worm 432 to rotate, the worm 432 drives the outer ring 422 to rotate, the outer ring 422 drives the support 1 to rotate, the position of the magnetic control device 3 is adjusted, and the driving structure is simpler and more practical relative to the translation assembly.

Referring to fig. 4, the outer ring 422 is provided with a plurality of coupling holes around the rotation axis to be coupled to the stand 1 by fasteners, and the inner ring 421 is provided with a plurality of coupling holes to be coupled to the seat body 41 by fasteners, wherein the fasteners may be fastening bolts.

Referring to fig. 1 and 5, in a possible embodiment, a first translation assembly 5 is provided on the cantilever 2, the magnetic control device 3 is connected to the first translation assembly 5, and the first translation assembly 5 can drive the magnetic control device 3 to translate along the extension direction of the cantilever 2.

In this embodiment, the first translation assembly 5 is disposed on the cantilever 2, and thus occupies no space, making the capsule endoscope control system 100 more compact. Wherein, the base of rotating assembly 4 can directly be fixed in the floor, need not arrange the slide rail structure on the floor, has practiced thrift a large amount of spaces, prevents to form the multilayer structure of putting up around inspection bed 6, has reduced capsule endoscope control system 100 to the place requirement of installation space. Specifically, the capsule endoscope control system 100 in the embodiment of the present application can adjust the two-dimensional spatial position of the magnetic control device 3 by only controlling the rotation assembly 4 to rotate and match with the first translation assembly 5 mounted on the cantilever 2.

Referring to fig. 1 and 5, in one possible embodiment, the suspension arm 2 includes an escape bar groove 21, the first translating member 5 extends along the escape bar groove 21, the magnetic control device 3 includes a connecting frame 31 and a shell portion 32 mounted with a magnet, the connecting frame 31 is connected to the first translating member 5, the shell portion 32 is connected to the connecting frame 31, and the first translating member 5 can drive the connecting frame 31 to drive the shell portion 32 to translate along the suspension arm 2.

The structure of the magnetic control device 3 is widely disclosed in the related art, and the present application does not limit the specific structure of the magnetic control device 3, and the magnetic control device 3 in each related art can be applied to the capsule endoscope control system of the present application.

In this embodiment, the boom 2 further comprises an escape bar groove 21, the connecting bracket 31 is mounted in the escape bar groove 21 of the boom 2, and the shell portion 32 is at least partially located below the boom 2, so that the boom 2 is more compact. The avoidance bar groove 21 may be a groove structure provided in the cantilever 2, or the avoidance bar groove 2 is defined by a side wall of the cantilever 2. Moreover, the shell 32 is connected with the cantilever 2 through the mounting frame 31, a magnet is arranged in the shell, and the magnet can move at a position lower than the cantilever 2 and closer to the examining table 6 through the matching of the magnetic control device 3 and the first moving assembly 3, so that the capsule endoscope with the magnet can be driven to move, and the reliability of magnetic field driving is improved.

It should be noted that any structure capable of driving the magnetic control device 3 to move is within the scope of the present application. Illustratively, referring to fig. 5, the first translation assembly 5 may include a lead screw 51 and a second motor 52, the lead screw 51 is disposed to extend along the length direction of the cantilever 2, the lead screw 51 is threadedly connected to the connecting frame 31, and the second motor 52 is drivingly connected to the lead screw 51. In this scheme, the second motor 52 drives the lead screw 51 to rotate, and the lead screw 51 drives the connecting frame 31 to move along the extending direction of the avoidance bar groove 21, so as to drive the shell 32 to move, and adjust the position of the magnet inside the magnetic control device 3. Of course, the first translating assembly 5 may also include a belt (not shown) extending along the length of the boom 2, the link frame 31 being connected to the belt, and the second motor 52 driving the link belt. In this scheme, the second motor 52 drives the conveyor belt to run, and the connecting frame 31 is fixedly connected to the conveyor belt, and the conveyor belt drives the magnetic control device 3 to move along the cantilever 2.

In addition, referring to fig. 5, in a possible embodiment, the cantilever 2 further includes a guide rail 22, the guide rail 22 is extended along the length direction of the cantilever 2, and the connecting frame 31 is connected to the guide rail 22 and can slide along the guide rail 22.

Further, guide rails 22 are disposed on both sides of the escape bar groove 21, and the connecting frame 31 is slidably connected to the guide rails 22. The cantilever has the supporting role to link 31, and link 31 and the guide rail 22 sliding fit on cantilever 2, at the long direction removal in-process of 2 arms along the cantilever, the frictional force that link 31 received is little, has reduced translation subassembly's pressure, and translation subassembly only need provide the weight that magnetic control device 3 need not be born to the drive power of horizontal direction, has prolonged translation subassembly's life.

Referring to fig. 6, in another possible embodiment, the first translation assembly 5 includes a slide rail 53, a lead screw 51 and a third motor (not shown), the rotating assembly 4 is slidably mounted on the slide rail 53, the lead screw 51 is in threaded connection with the rotating assembly 4, the third motor is in driving connection with the lead screw 51, the bracket 1 is connected to the rotating assembly 4, and the lead screw 51 can drive the rotating assembly 4 to move so as to drive the bracket 1 to translate.

In this arrangement, the first translation assembly 5 may be mounted on a floor, disposed adjacent the examination table 6, e.g., extending along a length of the examination table 6, and occupy only a small amount of space.

In addition, an embodiment of the present application also provides a control method of the capsule endoscope control system, including: the capsule endoscope control system controls the first translation assembly 5 to translate and/or controls the rotating assembly 4 to rotate, and adjusts the two-dimensional space position of the magnetic control device 3.

Referring to fig. 7, a schematic diagram of the position change of the magnetic control device 3 during the rotation of the rotary component 4 in the capsule endoscope control system 100 of fig. 6 is shown. In the process that the capsule endoscope control system 100 controls the rotating assembly 4 to rotate, the motion displacement of the magnetic control device 3 is determined according to the rotating angle of the rotating assembly 4, and the capsule endoscope control system 100 calculates the motion displacement of the magnetic control device 3 through the following formula;

the movement distance △ X in the first direction of the magnetron 3 is L X sin α;

the moving distance △ Y in the second direction of the magnetic control device 3 is L cos α -L;

where α is the angle of rotation of the rotating assembly 4, L is the distance of the magnet control device 3 from the support 1, and the first direction is perpendicular to the second direction, where the first direction may be the length direction of the examination table 6 and the second direction may be the width direction of the examination table 6, and further, L is the distance between the rotation axis of the magnet control device 3 and the rotation axis of the support 1.

Therefore, the capsule endoscope control system 100 can automatically calculate the movement displacement of the magnetic control device 3 according to the rotation angle of the rotating assembly 4, and accurately control the position of the magnetic control device 3. When the magnetic control device 3 needs to be moved to a set position, the specific position of the magnetic control device 3 can be adjusted by controlling the rotation angle of the rotating assembly 4 and the translation position of the first translation assembly 5.

In a possible embodiment, the capsule endoscope control system 100 also performs angular compensation of the magnets of the magnetic control means 3 according to the angle of rotation of the rotating assembly 4; the angle compensation of the magnet of the magnetic control device 3 includes: and detecting the rotation angle of the rotating assembly 4, controlling the magnetic control device 3 to drive the magnet to rotate by a corresponding angle, and compensating the deflection angle of the magnet.

Specifically, when the rotation assembly 4 rotates by an angle α, the magnetron device 3 is controlled to drive the magnet to rotate reversely by an angle α, so as to compensate the angle of the deflected magnet.

In this embodiment, it will be appreciated that during rotation of the rotating assembly 4, the magnets on the magnetic control device 3 will correspondingly have a certain deflection angle relative to the examination table 6, which can be compensated by the capsule endoscope control system 100 to ensure precise adjustment of the magnet attitude position, e.g., during rotation of the rotating assembly 4, a motor on the magnetic control device 3 controls the magnet rotation to compensate for the effect of the rotation of the rotating assembly 4 on the magnet attitude position, thereby achieving precise control of the movement of the capsule endoscope with the magnets.

The adjustment of the magnet position by the capsule endoscope control system 100 will be described in detail below, taking the capsule endoscope control system 100 provided in fig. 6 as an example.

Referring to fig. 6, the capsule endoscope control system 100 comprises a first translation assembly 5 and a rotation assembly 4, wherein the first translation assembly 5 can be arranged on the ground and extend along the length direction of the examining table 6. The rotating component 4 is used for driving the bracket 1 to rotate.

The longitudinal direction of the bed 6 is defined as the X-axis direction, and the width direction of the bed 6 is defined as the Y-axis direction. In the initial state of the capsule endoscope control system 100, the magnetron device 3 is at the origin of motion (x0, y 0).

When the capsule endoscope control system 100 is in operation, if only the rotating assembly 4 rotates by an angle α, the coordinates of the magnetic control device 3 are changed from (x0, y0) to (x1, y1), wherein x1 is x0+ dx1, y1 is y0+ dy1, further dx1 is L sin α, and dy1 is L cos α -L.

When the capsule endoscope control system 100 is in operation, if only the first translation unit 5 translates by a distance β (not shown), the coordinates of the magnetic control device are changed to coordinates (x2, y2), where x2 is x0+ dx2, y2 is y0+ dy0, further, dx2 is β, and dy0 is 0.

When the capsule endoscope control system 100 is operated, if the rotating assembly 4 and the first translating assembly 5 are both operated, the rotating assembly 4 rotates by an angle α, and the first translating assembly translates by a distance β, the coordinates of the magnetic control device are changed into coordinates (x3 and y3), wherein x3 is x0+ dx1+ dx2, and y3 is y0+ dy 1.

In other embodiments of the present application, the coordinate calculation methods are slightly different corresponding to different mounting manners of the first translation assembly 5 and the rotation assembly 4, but the principles of the magnetic control device 3 for realizing the position change are the same, and therefore the specific coordinate calculation process is not described herein again.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (12)

1. A capsule endoscope control system characterized by: the method comprises the following steps:

a support (1);

the cantilever (2) is connected to the bracket (1), and a magnetic control device (3) is arranged on the cantilever (2);

the rotating assembly (4) is used for driving the bracket (1) to rotate;

the first translation assembly (5) is used for driving the bracket (1) or the magnetic control device (3) to translate;

the capsule endoscope control system controls the first translation assembly (5) to translate and/or the rotating assembly (4) to rotate so as to adjust the two-dimensional space position of the magnetic control device (3).

2. The capsule endoscopic control system of claim 1, wherein the rotation assembly (4) comprises a seat (41), a slew bearing (42) and a drive component (43);

the rotary bearing (42) is mounted on the base body (41), the support (1) is connected to the rotary bearing (42), and the driving part (43) is connected to the rotary bearing (42) or the support (1) in a driving manner, so that the support (1) drives the magnetic control device (3) to rotate.

3. The capsule endoscopic control system of claim 2, wherein the rotary bearing (42) comprises an inner ring (421) and an outer ring (422), the inner ring (421) is fixedly connected to the holder body (41), the support (1) is connected to the outer ring (422), and the driving part (43) is drivingly connected to the outer ring (422) such that the outer ring (422) rotates the support (1).

4. The capsule endoscopic control system of claim 3, wherein the drive component (43) comprises a first motor (431) and a worm (432) connected to the first motor (431);

the peripheral surface of the outer ring (422) is provided with a tooth socket;

the worm (432) is meshed with the outer ring (422).

5. The capsule endoscopic control system of any of claims 1 to 4, wherein said first translation assembly (5) is provided to said cantilever (2);

the magnetic control device (3) is connected to the first translation assembly (5);

the first translation assembly (5) drives the magnetic control device (3) to translate along the cantilever (2).

6. The capsule endoscopic control system of claim 5, wherein the cantilever (2) comprises an avoidance bar slot (21);

the first translation assembly (5) extends along the avoidance bar groove (21);

the magnetic control device (3) comprises a connecting frame (31) and a shell part (32) provided with a magnet;

the connecting frame (31) is connected to the first translating assembly (5);

the shell part (32) is connected to the connecting frame (31);

the first translation assembly (5) drives the connecting frame (31) to drive the shell portion (32) to translate along the cantilever (2).

7. The capsule endoscopic control system of claim 5, wherein the first translation assembly (5) comprises a lead screw (51) and a second motor (52); the lead screw (51) extends along the length direction of the cantilever (2), and the lead screw (51) is in threaded connection with the magnetic control device (3); the second motor (52) is in driving connection with the lead screw (51);

alternatively, the first translation assembly (5) comprises a conveyor belt and a second motor (52); the conveyor belt extends along the arm length direction of the cantilever (2); the magnetic control device (3) is connected to the conveyor belt; the second motor (52) is in driving connection with the conveyor belt.

8. The capsule endoscopic control system of claim 5, wherein the cantilever (2) comprises a guide rail (22);

the guide rail (22) extends along the length direction of the cantilever (2);

the magnetic control device (3) is connected to the guide rail (22) in a sliding manner.

9. The capsule endoscopic control system of any of claims 1-4, wherein the first translation assembly (5) comprises a slide rail (53), a lead screw (51), and a third motor;

the rotating assembly (4) is slidably mounted on the sliding rail (53), the lead screw (51) is in threaded connection with the rotating assembly (4), and the third motor is in driving connection with the lead screw (51);

the bracket (1) is connected to the rotating assembly (4);

the lead screw (51) drives the rotating assembly (4) to move so as to drive the support (1) to translate.

10. A method of controlling a capsule endoscopic control system as in any of claims 1-9, comprising: the capsule endoscope control system controls the first translation assembly (5) to translate and/or controls the rotating assembly (4) to rotate, and adjusts the two-dimensional space position of the magnetic control device (3).

11. The control method according to claim 10, wherein the capsule endoscope control system determines the movement displacement of the magnetic control device (3) according to the rotation angle of the rotating assembly (4) when controlling the rotating assembly (4) to rotate;

the capsule endoscope control system calculates the movement displacement of the magnetic control device (3) through the following formula;

the moving distance △ X of the magnetic control device (3) in the first direction is L sin α;

the moving distance △ Y of the magnetic control device (3) in the second direction is L cos α -L;

α is the rotation angle of the rotating component (4), L is the distance between the magnetic control device (3) and the bracket (1), and the first direction is perpendicular to the second direction.

12. The control method according to claim 10, wherein the capsule endoscope control system also performs angular compensation of the magnet of the magnetic control device (3) according to the angle of rotation of the rotating assembly (4);

the angular compensation of the magnets of the magnetic control device (3) comprises: and detecting the rotation angle of the rotating assembly, controlling the magnetic control device (3) to drive the magnet to rotate by a corresponding angle, and compensating the deflection angle of the magnet.

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