CN113397459A - Capsule type medical device control system and method based on electromechanical integration - Google Patents
Capsule type medical device control system and method based on electromechanical integration Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical-electrical integration, and discloses a capsule type medical device control system and a method based on mechanical-electrical integration, wherein the capsule type medical device control system based on mechanical-electrical integration comprises: the device comprises a medical device direction detection module, a medical device position detection module, a central control module, a magnetic field generation module, a magnetic field control module, a magnetic field shielding module, a magnetic field response module, a guiding direction correction module, an evaluation module, a data storage module and an updating display module. The present invention provides a capsule medical device control system based on mechatronics, which is a guiding device and a capsule medical device control system capable of guiding a capsule medical device to a target position and posture in a guiding device of the capsule medical device provided with a magnetic field shielding unit, can realize accurate guiding, and effectively avoid the problem that the magnetic field shielding unit easily causes the position and posture of a capsule endoscope to deviate relative to the target position and posture.
Description
Technical Field
The invention belongs to the technical field of mechanical and electrical integration, and particularly relates to a capsule type medical device control system and method based on mechanical and electrical integration.
Background
In recent years, a capsule medical device introduced into a subject to acquire various information related to the inside of the subject or to administer a medicine or the like into the subject has been introduced in the field of medical instruments. With the advent of a guidance device that guides a capsule endoscope introduced into a subject by a magnetic field, a doctor can operate guidance of the capsule endoscope using an operation input unit provided in the guidance device while referring to an in-vivo image displayed on a display unit.
In order to reduce the influence of the magnetic field generated by the magnetic field generator on the user such as various equipment and doctors, a magnetic field shield unit including a ferromagnetic body may be disposed around the magnetic field generator, but the magnetic field shield unit has a large influence on the magnetic field generated by the magnetic field generator, and the capsule endoscope may be displaced from the target position and posture. Therefore, a new system and method for guiding the capsule medical device by the magnetic field are needed.
Through the above analysis, the problems and defects of the prior art are as follows: in the conventional guidance device for guiding the capsule endoscope introduced into the subject by the magnetic field, a magnetic field shielding unit including a ferromagnetic body is disposed around the magnetic field generating unit, but the magnetic field shielding unit greatly affects the magnetic field generated by the magnetic field generating unit, and the capsule endoscope may be displaced from the target position and posture.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a capsule type medical device control system and method based on electromechanical integration.
The present invention is achieved in such a way that a capsule medical apparatus control method based on mechatronics includes the steps of:
detecting the length direction of a capsule based on a mechatronic capsule type medical device inserted into a body cavity by a medical device direction detection module by using a direction sensor;
secondly, detecting the position and the posture of the capsule type medical device based on the mechatronics by using position detection equipment through a medical device position detection module;
thirdly, the central control module utilizes a central processor to coordinate and control the normal operation of each module of the capsule type medical device control system based on the mechatronics;
the normal operation of the modules of the capsule type medical device control system based on mechanical and electrical integration coordinately controlled by the central control module through a central processor comprises the following steps:
(3.1) calculating an error value according to the controlled quantity and the output feedback quantity of each module; calculating an error change rate according to the error value;
(3.2) carrying out self-adaptive setting on parameters of the central processing unit according to the error value and the error change rate by using a fuzzy rule, and outputting the variable quantity of the parameters;
(3.3) obtaining an initial value of the parameter according to the error value and the error change rate;
(3.4) when each module is controlled, obtaining a parameter value according to the initial value and the variable quantity of the parameter, and calculating a control output quantity according to the parameter value to each module;
generating an electromagnetic field acting on the magnet inside the capsule-type medical device based on mechanical and electrical integration by using a magnetic field generating device through a magnetic field generating module; controlling the direction of the electromagnetic field generated by the magnetic field generating device by a magnetic field control module by using a magnetic field control program;
the magnetic field generating module generates an electromagnetic field acting on the magnet inside the capsule-type medical device based on mechatronics by using a magnetic field generating device, and comprises:
(4.1) a magnetic field generating means is disposed at the center of the capsule in a direction perpendicular to the insertion axis, with the longitudinal direction of the capsule as the insertion axis, which is the medical device inserted into the body cavity;
(4.2) turning on a vibration switch of the operation input device with respect to a magnetic field generating device disposed outside the body, the magnetic field generating device generating a vibration magnetic field in a direction parallel to the insertion axis of the capsule;
fifthly, shielding the electromagnetic field generated by the magnetic field generating device from the outside by using a magnetic field shielding device through a magnetic field shielding module;
step six, responding to the electromagnetic field by using a magnetic field response device through a magnetic field response module, and guiding the capsule type medical device according to a preset target position;
seventhly, correcting the guiding direction of the capsule type medical device by a guiding direction correcting module by using a direction correcting program; evaluating a guiding effect of the mechatronic-based capsule medical device by an evaluation module using an evaluation program;
the correcting the guidance direction of the capsule medical device by the guidance direction correction module using a direction correction program includes:
(7.1) acquiring guidance direction information of the capsule-type medical device, the guidance direction being a straight line segment;
(7.2) performing vectorization processing on the guidance direction information of the capsule-type medical device to acquire coordinate information corresponding to the capsule-type medical device;
(7.3) determining a rotation angle corresponding to the capsule-type medical device to be corrected based on the coordinate information, and correcting a guiding direction of the capsule-type medical device according to the rotation angle;
step eight, the data storage module is used for storing the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information by using a memory;
and step nine, updating and displaying the detected real-time data of the medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information by the updating and displaying module through the display.
Further, in step three, the parameters include: a proportional adjustment coefficient, an integral adjustment coefficient, and a derivative adjustment coefficient.
Further, in step five, the shielding the electromagnetic field generated by the magnetic field generating device from the outside by the magnetic field shielding module using a magnetic field shielding device includes:
(1) monitoring the change of an environmental magnetic field through a magnetic field detection coil carried by a magnetic field shielding device; the magnetic field detection coil is arranged right above the medical device;
(2) after the circuit power of the medical device is amplified by the magnetic field shielding module, the external magnetic field is counteracted by the driving magnetic field adjusting coil carried by the magnetic field shielding device.
Furthermore, the magnetic field detection coil is connected with the magnetic field detection probe, the driving circuit is placed outside the magnetic field adjusting coil, and the shielding magnetic field is arranged above the driving circuit.
Further, in the sixth step, the magnetic field responding means is any one of a magnetic body, a magnet, and a dielectric.
Further, the vectorization processing of the guidance direction information of the capsule medical device includes:
1) carrying out Hough transform on the straight line segment detection information to obtain coordinate information of a plurality of line segments;
2) determining any two line segments of the line segments as a first line segment and a second line segment, and calculating a first distance from the midpoint of the first line segment to the second line segment and a second distance from the midpoint of the second line segment to the first line segment;
3) judging whether the first distance and the second distance are both smaller than a second threshold value;
4) when a target first line segment and a target second line segment exist, wherein the first distance and the second distance are both smaller than the second threshold value, the first target line segment and the second target line segment are spliced;
5) and acquiring the endpoint coordinates of the straight line segment formed by splicing the line segments.
Another object of the present invention is to provide a capsule-type medical device control system based on mechatronics, which implements the capsule-type medical device control method based on mechatronics, the capsule-type medical device control system based on mechatronics comprising:
the device comprises a medical device direction detection module, a medical device position detection module, a central control module, a magnetic field generation module, a magnetic field control module, a magnetic field shielding module, a magnetic field response module, a guiding direction correction module, an evaluation module, a data storage module and an updating display module.
A medical device direction detection module connected with the central control module and used for detecting the length direction of the capsule based on the mechatronic capsule type medical device inserted into the body cavity through a direction sensor;
a medical device position detection module connected with the central control module and used for detecting the position and the posture of the capsule type medical device based on the mechatronics through position detection equipment;
the central control module is connected with the medical device direction detection module, the medical device position detection module, the magnetic field generation module, the magnetic field control module, the magnetic field shielding module, the magnetic field response module, the guiding direction correction module, the evaluation module, the data storage module and the updating display module and is used for coordinating and controlling the normal operation of each module of the capsule type medical device control system based on the mechatronics through the central processing unit;
the magnetic field generating module is connected with the central control module and used for generating an electromagnetic field acting on the magnet inside the capsule type medical device based on mechanical and electrical integration through the magnetic field generating device;
the magnetic field control module is connected with the central control module and is used for controlling the direction of the electromagnetic field generated by the magnetic field generating device through a magnetic field control program;
the magnetic field shielding module is connected with the central control module and is used for shielding the electromagnetic field generated by the magnetic field generating device from the outside through a magnetic field shielding device;
a magnetic field response module connected with the central control module for responding to the electromagnetic field through the magnetic field response device and guiding the capsule type medical device according to a preset target position;
a guidance direction correcting module connected to the central control module for correcting the guidance direction of the capsule medical device through a direction correcting program;
an evaluation module connected with the central control module and used for evaluating the guiding effect of the capsule-type medical device based on mechanical and electrical integration through an evaluation program;
the data storage module is connected with the central control module and used for storing the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information through the memory;
and the updating display module is connected with the central control module and is used for updating and displaying the detected real-time data of the medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information through the display.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the mechatronic-based capsule medical device control method when executed on an electronic device.
It is another object of the present invention to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the mechatronic-based capsule medical device control method.
By combining all the technical schemes, the invention has the advantages and positive effects that: the present invention provides a capsule medical device control system based on mechatronics, which is a guiding device and a capsule medical device control system capable of guiding a capsule medical device to a target position and posture in a guiding device of the capsule medical device provided with a magnetic field shielding unit, can realize accurate guiding, and effectively avoid the problems that the magnetic field generated by the magnetic field generating unit is greatly influenced by the magnetic field shielding unit, and the position and posture of a capsule endoscope are deviated from the target position and posture. According to the invention, double setting of parameters is realized through expert control, fuzzy control and the central processing unit, the control precision and performance of the central processing unit are improved, and the precision of guide control is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings according to the drawings.
Fig. 1 is a flowchart of a control method for a capsule medical device based on mechatronics according to an embodiment of the present invention.
FIG. 2 is a block diagram of a control system for a capsule-type medical device based on mechatronics according to an embodiment of the present invention;
in the figure: 1. a medical device orientation detection module; 2. a medical device position detection module; 3. a central control module; 4. a magnetic field generating module; 5. a magnetic field control module; 6. a magnetic field shielding module; 7. a magnetic field response module; 8. a guide direction correction module; 9. an evaluation module; 10. a data storage module; 11. and updating the display module.
Fig. 3 is a schematic diagram of the electromagnetic field generated by the magnetic field generating module by the magnetic field generating device and acting on the magnet inside the capsule-type medical device based on mechatronics according to the embodiment of the present invention.
Fig. 4 is a schematic diagram of a shielding process of the electromagnetic field generated by the magnetic field generating device from the outside by using a magnetic field shielding device through a magnetic field shielding module according to an embodiment of the present invention.
FIG. 5 is a schematic diagram illustrating a guidance direction of the capsule medical device being corrected by a guidance direction correction module using a direction correction procedure according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a magnetic field response device provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a capsule medical device control system and method based on mechatronics, and the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, a method for controlling a capsule medical device based on mechatronics according to an embodiment of the present invention includes the following steps:
s101, detecting the length direction of the capsule based on the mechatronic capsule type medical device inserted into the body cavity by a medical device direction detection module and a direction sensor;
s102, detecting the position and the posture of the capsule-type medical device based on the mechatronics by a medical device position detection module through position detection equipment;
s103, the normal operation of each module of the capsule type medical device control system based on the electromechanical integration is coordinated and controlled by a central control module through a central processing unit;
s104, generating an electromagnetic field acting on the magnet inside the capsule-type medical device based on mechanical and electrical integration by a magnetic field generating module and a magnetic field generating device; controlling the direction of the electromagnetic field generated by the magnetic field generating device by a magnetic field control module by using a magnetic field control program;
s105, shielding the electromagnetic field generated by the magnetic field generating device from the outside by using a magnetic field shielding device through a magnetic field shielding module;
s106, responding to the electromagnetic field by using the magnetic field response device through the magnetic field response module, and guiding the capsule type medical device according to a preset target position;
s107, correcting the guiding direction of the capsule medical device by a guiding direction correcting module by using a direction correcting program; evaluating a guiding effect of the mechatronic-based capsule medical device by an evaluation module using an evaluation program;
s108, the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information are stored by the data storage module through a memory;
and S109, updating and displaying the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the real-time data of the guiding effect evaluating information by the updating and displaying module through the display.
As shown in fig. 2, a capsule medical device control system based on mechatronics according to an embodiment of the present invention includes: the medical device orientation detection module 1, the medical device position detection module 2, the central control module 3, the magnetic field generation module 4, the magnetic field control module 5, the magnetic field shielding module 6, the magnetic field response module 7, the guidance orientation correction module 8, the evaluation module 9, the data storage module 10 and the update display module 11.
A medical device direction detection module 1 connected to the central control module 3 for detecting a longitudinal direction of the capsule based on the mechatronic capsule medical device inserted into the body cavity by a direction sensor;
a medical device position detection module 2 connected to the central control module 3 for detecting the position and posture of the capsule-type medical device based on mechatronics through a position detection device;
the central control module 3 is connected with the medical device direction detection module 1, the medical device position detection module 2, the magnetic field generation module 4, the magnetic field control module 5, the magnetic field shielding module 6, the magnetic field response module 7, the guiding direction correction module 8, the evaluation module 9, the data storage module 10 and the updating display module 11, and is used for coordinating and controlling the normal operation of each module of the capsule type medical device control system based on the mechatronics through a central processing unit;
a magnetic field generating module 4 connected to the central control module 3 for generating an electromagnetic field acting on the magnet inside the capsule medical device based on mechatronics through a magnetic field generating device;
the magnetic field control module 5 is connected with the central control module 3 and is used for controlling the direction of the electromagnetic field generated by the magnetic field generating device through a magnetic field control program;
the magnetic field shielding module 6 is connected with the central control module 3 and is used for shielding the electromagnetic field generated by the magnetic field generating device from the outside through a magnetic field shielding device;
a magnetic field response module 7 connected to the central control module 3 for guiding the capsule medical device according to a preset target position in response to the electromagnetic field through the magnetic field response device;
a guidance direction correction module 8 connected to the central control module 3 for correcting the guidance direction of the capsule medical device by a direction correction program;
an evaluation module 9 connected to the central control module 3 for evaluating the guiding effect of the mechatronic-based capsule medical device through an evaluation program;
a data storage module 10 connected with the central control module 3 and used for storing the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correction information and the guiding effect evaluation information through a memory;
and the updating display module 11 is connected with the central control module 3 and is used for updating and displaying the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the real-time data of the guiding effect evaluating information through a display.
The technical solution of the present invention is further illustrated by the following specific examples.
Example 1
As shown in fig. 1, and as a preferred embodiment, in an embodiment of the present invention, a magnetic field response device is composed of a rotational symmetric body having a traveling direction along a symmetric axis, and is configured to convert a rotational motion generated by the magnetic field generating device into a propelling force to propel the capsule-type medical device to advance, as shown in fig. 6.
Example 2
As shown in fig. 1, as a preferred embodiment, the method for controlling a capsule-type medical device based on mechatronics according to an embodiment of the present invention includes:
calculating an error value according to the controlled quantity and the output feedback quantity of each module; calculating an error change rate according to the error value; utilizing a fuzzy rule to carry out self-adaptive setting on parameters of the central processing unit, including a proportional regulating coefficient, an integral regulating coefficient and a differential regulating coefficient, according to the error value and the error change rate, and outputting the variable quantity of the parameters; obtaining an initial value of the parameter according to the error value and the error change rate; when each module is controlled, parameter values are obtained according to the initial values and the variable quantities of the parameters, and control output quantities are calculated according to the parameter values and are sent to each module;
example 3
As shown in fig. 1, and as a preferred embodiment, fig. 3 shows a method for controlling a capsule-type medical device based on mechatronics according to an embodiment of the present invention, which uses a magnetic field generating device to generate an electromagnetic field acting on a magnet inside the capsule-type medical device based on mechatronics through a magnetic field generating module, and includes:
s201, using the length direction of a capsule as a medical device inserted into a body cavity as an insertion axis, and arranging a magnetic field generating device perpendicular to the insertion axis direction at the central position of the capsule;
s202, the vibration switch of the operation input device is turned on with respect to the magnetic field generating device disposed outside the body, and the magnetic field generating device generates a vibration magnetic field in a direction parallel to the insertion axis of the capsule.
Example 4
As shown in fig. 1, and as a preferred embodiment, as shown in fig. 4, a method for controlling a capsule medical device based on mechatronics according to an embodiment of the present invention for shielding an electromagnetic field generated by a magnetic field generating device from the outside by a magnetic field shielding module using a magnetic field shielding device includes:
s301, monitoring the change of an environmental magnetic field through a magnetic field detection coil carried by a magnetic field shielding device; wherein the magnetic field detection coil is disposed directly above the medical device;
and S302, after the circuit power of the medical device is driven to be amplified through the magnetic field shielding module, offsetting an external magnetic field by using a driving magnetic field adjusting coil carried by the magnetic field shielding device.
The magnetic field detection coil provided by the embodiment of the invention is connected with the magnetic field detection probe, the driving circuit is arranged outside the magnetic field adjusting coil, and the shielding magnetic field is arranged above the driving circuit.
Example 5
As shown in fig. 1, a method for controlling a capsule medical device based on mechatronics according to an embodiment of the present invention is preferably configured such that a magnetic field responding device according to an embodiment of the present invention is any one of a magnetic body, a magnet, and a dielectric.
Example 6
As shown in fig. 1, and as a preferred embodiment, as shown in fig. 5, a method for controlling a capsule medical device based on mechatronics according to an embodiment of the present invention corrects a guiding direction of the capsule medical device by a guiding direction correcting module using a direction correcting program, which includes:
s401, acquiring guiding direction information of the capsule medical device, wherein the guiding direction is a straight line segment;
s402, performing vectorization processing on the guidance direction information of the capsule medical device to acquire coordinate information corresponding to the capsule medical device;
s403, determining a rotation angle corresponding to the capsule medical device to be corrected based on the coordinate information, and correcting the guiding direction of the capsule medical device according to the rotation angle.
The vectorization processing of the guidance direction information of the capsule medical device according to the embodiment of the present invention includes:
1) carrying out Hough transform on the straight line segment detection information to obtain coordinate information of a plurality of line segments;
2) determining any two line segments of the line segments as a first line segment and a second line segment, and calculating a first distance from the midpoint of the first line segment to the second line segment and a second distance from the midpoint of the second line segment to the first line segment;
3) judging whether the first distance and the second distance are both smaller than a second threshold value;
4) when a target first line segment and a target second line segment exist, wherein the first distance and the second distance are both smaller than the second threshold value, the first target line segment and the second target line segment are spliced;
5) and acquiring the endpoint coordinates of the straight line segment formed by splicing the line segments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A capsule-type medical device control method based on mechatronics, characterized in that the capsule-type medical device control method based on mechatronics comprises the following steps:
detecting the length direction of a capsule based on a mechatronic capsule type medical device inserted into a body cavity by a medical device direction detection module by using a direction sensor;
secondly, detecting the position and the posture of the capsule type medical device based on the mechatronics by using position detection equipment through a medical device position detection module;
thirdly, the central control module utilizes a central processor to coordinate and control the normal operation of each module of the capsule type medical device control system based on the mechatronics;
the normal operation of the modules of the capsule type medical device control system based on mechanical and electrical integration coordinately controlled by the central control module through a central processor comprises the following steps:
(3.1) calculating an error value according to the controlled quantity and the output feedback quantity of each module; calculating an error change rate according to the error value;
(3.2) carrying out self-adaptive setting on parameters of the central processing unit according to the error value and the error change rate by using a fuzzy rule, and outputting the variable quantity of the parameters;
(3.3) obtaining an initial value of the parameter according to the error value and the error change rate;
(3.4) when each module is controlled, obtaining a parameter value according to the initial value and the variable quantity of the parameter, and calculating a control output quantity according to the parameter value to each module;
generating an electromagnetic field acting on the magnet inside the capsule-type medical device based on mechanical and electrical integration by using a magnetic field generating device through a magnetic field generating module; controlling the direction of the electromagnetic field generated by the magnetic field generating device by a magnetic field control module by using a magnetic field control program;
the magnetic field generating module generates an electromagnetic field acting on the magnet inside the capsule-type medical device based on mechatronics by using a magnetic field generating device, and comprises:
(4.1) a magnetic field generating means is disposed at the center of the capsule in a direction perpendicular to the insertion axis, with the longitudinal direction of the capsule as the insertion axis, which is the medical device inserted into the body cavity;
(4.2) turning on a vibration switch of the operation input device with respect to a magnetic field generating device disposed outside the body, the magnetic field generating device generating a vibration magnetic field in a direction parallel to the insertion axis of the capsule;
fifthly, shielding the electromagnetic field generated by the magnetic field generating device from the outside by using a magnetic field shielding device through a magnetic field shielding module;
step six, responding to the electromagnetic field by using a magnetic field response device through a magnetic field response module, and guiding the capsule type medical device according to a preset target position;
seventhly, correcting the guiding direction of the capsule type medical device by a guiding direction correcting module by using a direction correcting program; evaluating a guiding effect of the mechatronic-based capsule medical device by an evaluation module using an evaluation program;
the correcting the guidance direction of the capsule medical device by the guidance direction correction module using a direction correction program includes:
(7.1) acquiring guidance direction information of the capsule-type medical device, the guidance direction being a straight line segment;
(7.2) performing vectorization processing on the guidance direction information of the capsule-type medical device to acquire coordinate information corresponding to the capsule-type medical device;
(7.3) determining a rotation angle corresponding to the capsule-type medical device to be corrected based on the coordinate information, and correcting a guiding direction of the capsule-type medical device according to the rotation angle;
step eight, the data storage module is used for storing the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information by using a memory;
and step nine, updating and displaying the detected real-time data of the medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information by the updating and displaying module through the display.
2. The mechatronic capsule-type medical device controlling method according to claim 1, wherein the parameters include, in step three: a proportional adjustment coefficient, an integral adjustment coefficient, and a derivative adjustment coefficient.
3. The method for controlling a capsule-type medical device according to claim 1, wherein the shielding the electromagnetic field generated by the magnetic field generating device from the outside by the magnetic field shielding module using a magnetic field shielding device comprises:
(1) monitoring the change of an environmental magnetic field through a magnetic field detection coil carried by a magnetic field shielding device; the magnetic field detection coil is arranged right above the medical device;
(2) after the circuit power of the medical device is amplified by the magnetic field shielding module, the external magnetic field is counteracted by the driving magnetic field adjusting coil carried by the magnetic field shielding device.
4. The control method for a capsule medical device based on mechatronics according to claim 3, wherein the magnetic field detection coil is connected to the magnetic field detection probe, the drive circuit is disposed outside the magnetic field adjusting coil, and the shield magnetic field is disposed above the drive circuit.
5. The mechatronic capsule medical device control method according to claim 1, wherein in the sixth step, the magnetic field responding means is any one of a magnetic body, a magnet, and a dielectric.
6. The mechatronic capsule-type medical device control method according to claim 1, wherein the vectorization processing of the guidance direction information of the capsule-type medical device includes:
1) carrying out Hough transform on the straight line segment detection information to obtain coordinate information of a plurality of line segments;
2) determining any two line segments of the line segments as a first line segment and a second line segment, and calculating a first distance from the midpoint of the first line segment to the second line segment and a second distance from the midpoint of the second line segment to the first line segment;
3) judging whether the first distance and the second distance are both smaller than a second threshold value;
4) when a target first line segment and a target second line segment exist, wherein the first distance and the second distance are both smaller than the second threshold value, the first target line segment and the second target line segment are spliced;
5) and acquiring the endpoint coordinates of the straight line segment formed by splicing the line segments.
7. A mechatronic-based capsule medical device control system for implementing the method according to any one of claims 1 to 6, wherein the mechatronic-based capsule medical device control system comprises:
the medical device comprises a medical device direction detection module, a medical device position detection module, a central control module, a magnetic field generation module, a magnetic field control module, a magnetic field shielding module, a magnetic field response module, a guiding direction correction module, an evaluation module, a data storage module and an updating display module;
a medical device direction detection module connected with the central control module and used for detecting the length direction of the capsule based on the mechatronic capsule type medical device inserted into the body cavity through a direction sensor;
a medical device position detection module connected with the central control module and used for detecting the position and the posture of the capsule type medical device based on the mechatronics through position detection equipment;
the central control module is connected with the medical device direction detection module, the medical device position detection module, the magnetic field generation module, the magnetic field control module, the magnetic field shielding module, the magnetic field response module, the guiding direction correction module, the evaluation module, the data storage module and the updating display module and is used for coordinating and controlling the normal operation of each module of the capsule type medical device control system based on the mechatronics through the central processing unit;
the magnetic field generating module is connected with the central control module and used for generating an electromagnetic field acting on the magnet inside the capsule type medical device based on mechanical and electrical integration through the magnetic field generating device;
the magnetic field control module is connected with the central control module and is used for controlling the direction of the electromagnetic field generated by the magnetic field generating device through a magnetic field control program;
the magnetic field shielding module is connected with the central control module and is used for shielding the electromagnetic field generated by the magnetic field generating device from the outside through a magnetic field shielding device;
a magnetic field response module connected with the central control module for responding to the electromagnetic field through the magnetic field response device and guiding the capsule type medical device according to a preset target position;
a guidance direction correcting module connected to the central control module for correcting the guidance direction of the capsule medical device through a direction correcting program;
an evaluation module connected with the central control module and used for evaluating the guiding effect of the capsule-type medical device based on mechanical and electrical integration through an evaluation program;
the data storage module is connected with the central control module and used for storing the detected medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information through the memory;
and the updating display module is connected with the central control module and is used for updating and displaying the detected real-time data of the medical device direction, the position and posture information of the medical device, the magnetic field response result guiding direction correcting information and the guiding effect evaluating information through the display.
8. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing the mechatronic-based capsule medical device control method of any one of claims 1-6 when executed on an electronic device.
9. A computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the mechatronic-based capsule medical device controlling method according to any one of claims 1 to 6.
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