CN113679593A - Vibrating capsule and vibrating capsule system - Google Patents
Vibrating capsule and vibrating capsule system Download PDFInfo
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- CN113679593A CN113679593A CN202110962500.3A CN202110962500A CN113679593A CN 113679593 A CN113679593 A CN 113679593A CN 202110962500 A CN202110962500 A CN 202110962500A CN 113679593 A CN113679593 A CN 113679593A
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- 239000002775 capsule Substances 0.000 title claims abstract description 154
- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 238000003384 imaging method Methods 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims description 24
- 230000003993 interaction Effects 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 9
- 238000012935 Averaging Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 18
- 210000001035 gastrointestinal tract Anatomy 0.000 description 11
- 230000006872 improvement Effects 0.000 description 8
- 210000001072 colon Anatomy 0.000 description 7
- 230000008855 peristalsis Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000000968 intestinal effect Effects 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 206010010774 Constipation Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000000560 biocompatible material Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000029142 excretion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 210000000813 small intestine Anatomy 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H21/00—Massage devices for cavities of the body, e.g. nose, ears and anus ; Vibration or percussion related aspects A61H23/00
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a vibration capsule and a vibration capsule system. Compared with the prior art, the vibration capsule disclosed by the invention can accurately acquire the position interval of the alimentary canal where the vibration capsule is located by carrying out position identification on the image information obtained by the imaging module; acquire the real-time vibration intensity of vibration capsule through the acceleration sensor module to obtain effective vibration intensity from it, carry out the comparison with predetermineeing the amplitude according to effective vibration intensity's actual amplitude again, adjust current vibration mode, can get rid of the influence of alimentary canal internal environment and external environment (like human motion), carry out accurate control to the vibration state, and can practice thrift the battery power of vibration capsule.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a vibration capsule and a vibration capsule system.
Background
At present, capsule endoscopes are widely used in medical practice, and gradually develop from auxiliary diagnosis to auxiliary treatment. Wherein the vibration capsule can act on intestinal tract of human body by vibration to promote peristalsis of colon, relieve spasm of colon, promote excretion, treat constipation, and care skin.
The existing vibration capsule has a vibration effect through a built-in vibration motor. However, the existing vibration capsule cannot adjust the corresponding vibration state according to the precise position. For example, in the prior art, the digestive tract position of the vibration capsule is roughly estimated by using the information of the acceleration sensor module, and the position of the vibration capsule cannot be accurately judged, so that the vibration capsule cannot be accurately controlled.
In addition, the contents in the digestive tract affect the vibration effect of the vibration motor, so that the vibration capsule cannot vibrate according to an expected vibration mode, and the vibration stimulation effect of the vibration capsule is affected.
In view of the above, it is a problem to provide a vibrating capsule with precise positioning and control.
Disclosure of Invention
The invention aims to provide a vibration capsule and a vibration capsule system.
In order to achieve one of the above objects, an embodiment of the present invention provides a vibration capsule, which includes a housing, and an imaging module, an acceleration sensor module, a vibration motor and a control module disposed in the housing, wherein the imaging module, the acceleration sensor module and the vibration motor are all electrically connected to the control module, and wherein:
the imaging module is used for acquiring the position interval of the alimentary canal where the vibration capsule is positioned;
the acceleration sensor module is used for acquiring the total vibration intensity X (T) of the vibration capsule and acquiring the effective vibration intensity S (T) of the vibration capsule by combining with the preset vibration period T of the vibration motor; acquiring the actual amplitude A (t) of the vibrating capsule according to the effective vibration intensity S (t);
the control module is used for adjusting the driving signal intensity U (t) of the vibration motor according to the preset amplitude A0(t) and the actual amplitude A (t) of the position interval.
As a further improvement of an embodiment of the present invention, the acceleration sensor module includes an acceleration sensor, and the acceleration sensor module is further configured to:
and acquiring real-time acceleration information detected by the acceleration sensor, and calculating the total vibration intensity X (t) of the vibration capsule according to the real-time acceleration information.
As a further improvement of an embodiment of the present invention, the acceleration sensor module is further configured to:
filtering interference signals in a mode of averaging in N vibration periods T to obtain the effective vibration intensity S (T), wherein the calculation formula is as follows:
wherein N, i is a positive integer, and i belongs to N.
As a further improvement of an embodiment of the present invention, the acceleration sensor module is further configured to:
according to the calculation formula of the effective vibration intensity S (T), calculating the maximum value and the minimum value of the effective vibration intensity of the vibrating capsule in each vibration period T, and calculating the amplitude of each vibration period T to obtain the actual amplitude A (T) changing along with time.
As a further improvement of an embodiment of the present invention, the control module is further configured to:
obtaining the current driving signal intensity U (t) of the vibration motor, and calculating the target driving signal intensity U0(t) of the vibration motor:
the parameter k is a fixed value and is determined by the amplitude level of the preset amplitude a0(T), the position interval and the vibration period T.
As a further improvement of an embodiment of the present invention, the control module is further configured to:
and when the position interval is not a preset interval, controlling the vibration capsule to be in a static mode.
As a further improvement of an embodiment of the present invention, the imaging module is further configured to:
and acquiring image information of the alimentary canal where the vibration capsule is located, and acquiring the position interval of the alimentary canal where the vibration capsule is located by identifying the image information.
As a further improvement of an embodiment of the present invention, the wireless communication device further includes an illumination module, a recording module, a first wireless communication module, and a power supply module, wherein:
the illumination module is used for providing illumination for the imaging module;
the recording module is used for recording vibration information of the vibration capsule and control information of the control module;
the first wireless communication module is used for wirelessly transmitting the vibration information and the control information;
the power supply module is used for supplying power to all modules arranged in the vibration capsule.
In order to achieve one of the above objects, an embodiment of the present invention provides a vibration capsule system, which includes any one of the above vibration capsules and an interaction device disposed outside the body.
As a further improvement of an embodiment of the present invention, the interaction device includes a second wireless communication module, a display module and an instruction control module, wherein the display module is configured to display vibration information and image information sent by a vibration capsule, and the instruction control module is configured to send control instruction information to the vibration capsule through the second wireless communication module;
the vibration capsule comprises a recording module and a first wireless communication module, wherein the recording module is used for recording vibration information of the vibration capsule, and the vibration information is sent to the interaction device through the first wireless communication module; the recording module is further configured to receive control instruction information sent by the interaction device, and the control instruction information is sent to the control module of the vibrating capsule through the first wireless communication module.
Compared with the prior art, the vibration capsule disclosed by the invention can accurately acquire the position interval of the alimentary canal where the vibration capsule is located by carrying out position identification on the image information acquired by the imaging module; acquire the real-time vibration intensity of vibration capsule through the acceleration sensor module to obtain effective vibration intensity from it, carry out the comparison with predetermineeing the amplitude according to effective vibration intensity's actual amplitude again, adjust current vibration mode, can get rid of the influence of alimentary canal internal environment and external environment (like human motion), carry out accurate control to the vibration state, and can practice thrift the battery power of vibration capsule.
Drawings
Fig. 1 is a schematic view of the structure of the vibrating capsule of the present invention.
Fig. 2 is a schematic view of the overall variation in vibration intensity of the vibrating capsule of the present invention.
Fig. 3 is a schematic view of the ideal vibration variation of the vibration capsule of the present invention under the influence of only the preset vibration mode.
10, an imaging module; 20. a lighting module; 30. an acceleration sensor module; 40. a vibration motor; 50. a control module; 60. a housing.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
The invention provides a vibration capsule which has the advantages of accurate position positioning and accurate vibration control. Namely, the image information of the alimentary tract can be obtained through the imaging module arranged in the vibrating capsule, and the position interval of the alimentary tract where the vibrating capsule is positioned and the environment condition of the intestinal cavity content can be observed accurately according to the image information. Thus, the working state of the vibrating capsule can be automatically or passively adjusted according to the requirement. Meanwhile, the vibration capsule can also acquire the real-time vibration intensity of the vibration capsule according to an acceleration sensor module arranged in the vibration capsule, and acquire the effective vibration intensity, so that the vibration mode of the vibration capsule (such as the vibration amplitude of a vibration motor) can be effectively fed back and automatically and accurately adjusted, and the vibration capsule can achieve the most effective vibration stimulation effect.
As shown in fig. 1, the vibration capsule of the present invention includes a housing 60, an imaging module 10, an acceleration sensor module 30, a vibration motor 40, and a control module 50 disposed in the housing 60. The imaging module 10, the acceleration sensor module 30, and the vibration motor 40 are all electrically connected to the control module 50, and the control module 50 effectively controls the vibration motor 40 through information acquired by the imaging module 10 and the acceleration sensor module 30. Preferably, the imaging module 10 and the vibration motor 40 are separately provided at both ends of the vibration capsule, and the control module 50 and the acceleration sensor module 30 are provided between the imaging module 10 and the vibration motor 40. This arrangement makes the signal transmission more stable during the movement of the vibrating capsule.
The housing 60 is made of a biocompatible material, and includes a cylindrical intermediate portion and hemispherical end portions connected to both ends of the intermediate portion, and the intermediate portion and the end portions are integrated by a biocompatible adhesive or laser welding.
The imaging module 10 comprises a camera module, and the imaging module 10 is used for acquiring the position interval of the alimentary canal where the vibration capsule is located.
Specifically, the imaging module 10 captures the position of the alimentary tract where the vibration capsule is located to obtain image information, and identifies the image information, so that the position interval of the alimentary tract where the vibration capsule is located can be accurately obtained. The identification image information may be identified by a human being based on experience or by machine training.
The acceleration sensor module 30 is configured to obtain a total vibration intensity x (T) of the vibrating capsule, and obtain an effective vibration intensity s (T) of the vibrating capsule by combining a preset vibration period T of the vibrating motor 40.
The vibrating capsule includes a vibrating motor 40, and the vibrating motor 40 is typically operated in a particular vibration mode, such that the vibrating capsule ideally outputs the particular vibration mode (corresponding to a particular vibration period and vibration frequency). Taking the vibration motor 40 as a rotor motor as an example, the rotation speed of the rotor determines the intensity of the generated vibration, a specific vibration mode can be formed by adjusting the driving voltage u (t) (i.e., the driving signal intensity) of the rotor motor, and the driving voltage u (t) changes with the time t.
The motion of the vibrating capsule can be substantially divided into two parts, one of which is the effective vibration intensity s (t) induced by the vibrating motor 40, which is influenced by the preset vibration mode of the vibrating capsule itself and the environment in the alimentary tract in which the vibrating capsule is located. For example, the vibration capsule may vibrate freely in a clean colon region or in an expanded stomach region according to a preset vibration pattern; in a narrow small intestine area or a congested colon area, the motion amplitude is limited, and the expected vibration effect cannot be achieved according to a preset vibration mode. The second is the passive motion intensity n (t) generated by the vibration motor 40 along with the peristalsis of the digestive tract, the motion of the whole human body (such as walking and running) and the like.
That is, if x (t) represents the overall vibration intensity (or real-time vibration intensity) of the vibrating capsule, then x (t) can be represented as:
X(t)＝S(t)+n(t)。
wherein S (t) represents the effective vibration intensity of the vibrating capsule, and n (t) represents the passive motion intensity of the vibrating capsule.
Further, the acceleration sensor module 30 includes an acceleration sensor, and the acceleration sensor module 30 is further configured to:
acquiring real-time acceleration information detected by the acceleration sensor, and calculating the total vibration intensity X (t) of the vibration capsule according to the real-time acceleration information.
The acceleration sensor can be a three-axis acceleration sensor, and real-time acceleration information in x, y and z directions, namely an acceleration vector a, can be obtaineds＝(ax,ay,az). Preferably, the sampling frequency can be 4-100 Hz. The overall vibration intensity x (t) of the vibrating capsule can be directly calculated by modulo the acceleration vector, and the calculation formula is as follows:
X(t)＝|as(t)|；
however, since the acceleration vector is expressed in the coordinate system of the acceleration sensor module 30 itself, its value varies not only with the intensity of the motion of the vibrating capsule but also with the attitude of the vibrating capsule. For accurate calculation, it is preferable to calculate x (t) in a differential mode:
X(t)＝|as(t)-as(t-1)|；
wherein, as(t-1) is as(t) acceleration information of the last sampling point.
The overall vibration intensity x (t) of the vibrating capsule varies as shown in fig. 2, where the abscissa of fig. 2 represents time and the ordinate represents the overall vibration intensity of the vibrating capsule.
It should be noted that the vibration motor 40 cannot vibrate in an ideal vibration mode, and is limited by the contents in the digestive tract, and the more the contents are, the greater the limitation is. Therefore, the effective vibration intensity s (t) of the vibrating capsule cannot be calculated according to the preset vibration pattern. The effective vibration intensity s (t) of the vibrating capsule of the present invention is obtained from the overall vibration intensity x (t). The effective vibration intensity s (t) of the vibrating capsule can be obtained by filtering the overall vibration intensity x (t) of the vibrating capsule, and by filtering out the interference signals of the passive motion intensity n (t), the effective vibration intensity s (t) can be obtained. The specific filtering method may be band-pass filtering, or filtering the interference signal by averaging.
In order to reduce the complexity of the calculation and perform the filtering simply and quickly, it is preferable to perform the filtering by using an averaging method. Specifically, the acceleration sensor module 30 is further configured to:
the interference signals are filtered in a mode of averaging in N vibration periods to obtain effective vibration intensity S (t), and the calculation formula is as follows:
wherein N, i is a positive integer, and i ∈ N. The interference signal is generated by human body movement, intestinal peristalsis or liquid flow.
The capsule is vibrated in a vibration mode preset by the capsule. Fig. 3 is a schematic view showing the ideal vibration change of the vibrating capsule of the present invention under the influence of only a preset vibration pattern (the abscissa of fig. 3 represents time, and the ordinate represents the ideal vibration intensity of the vibrating capsule). As shown in fig. 3, the vibrating capsule is vibrated with a preset vibration period T and a preset sampling frequency, which can be obtained by a preset vibration mode. The effective vibration intensity s (T) is influenced by the preset vibration mode and the environment in the digestive tract where the vibration capsule is located, so that s (T) has a certain periodicity, and the periodicity is consistent with the preset vibration period T. Therefore, the interference signals generated by human body movement, intestinal peristalsis or liquid flow can be filtered out according to the mode of averaging in N vibration periods T, and the effective vibration intensity S (T) is obtained.
It should be noted that the value of N may be determined according to specific requirements. For example, in general, the value of N may be 2 to 6; and under the condition that the requirement on the real-time performance of the motion of the vibrating capsule is not very high, the value of N can be larger.
The acceleration sensor module 30 is further configured to obtain an actual amplitude a (t) of the vibrating capsule according to the effective vibration intensity s (t).
Specifically, according to a calculation formula of the effective vibration intensity s (T), the maximum value and the minimum value of the effective vibration intensity s (T) of the vibrating capsule in each vibration period T are calculated, and the amplitude of each vibration period T (the maximum value minus the minimum value of the effective vibration intensity in the same vibration period T) is calculated to obtain the actual amplitude a (T) varying with time. That is, each vibration period T has a corresponding amplitude that varies from vibration period to vibration period.
The control module 50 is configured to adjust the driving signal strength u (t) of the vibration motor 40 according to the preset amplitude a0(t) and the actual amplitude a (t) of the position interval.
The predetermined amplitude a0(t) is generally a constant, but different predetermined amplitudes may be set according to different amplitude periods. It should be noted that, the adjusting of the driving signal strength u (t) of the vibration motor is real-time, that is, the actual amplitude a (t) and the preset amplitude a0(t) of the current vibration period are obtained in real time, and then the driving signal strength u (t) of the vibration motor is adjusted according to the actual amplitude a (t) and the preset amplitude a0 (t).
Further, the control module 50 is further configured to:
obtaining the current driving signal intensity U (t) of the vibration motor, and calculating the target driving signal intensity U0(t) of the vibration motor:
the parameter k is a fixed value and is determined by the amplitude level, the position interval, and the vibration period T of the preset amplitude a0 (T).
It should be noted that the parameter k is an empirical parameter, and is determined by the level of the preset amplitude a0(T), the location interval of the alimentary tract where the vibrating capsule is located, and the currently selected driving signal mode (vibration period T, etc.). The parameter k can form a lookup table in advance through experimental statistics, so that subsequent lookup is facilitated.
In a preferred embodiment, the control module 50 is further configured to:
and when the position interval is not a preset interval, controlling the vibration capsule to be in a static mode.
For example, if the user presets a vibration mode in which the vibration capsule reaches the colon, the vibration is turned on, and the intestinal peristalsis is stimulated with a specific vibration intensity. Therefore, the control module 50 controls the vibration capsule to be in the stationary mode before it is judged from the image information that the vibration capsule reaches the colon. The static mode is a special vibration mode, which means that the vibration capsule does not depend on active vibration caused by the vibration motor 40, but only depends on passive motion generated by digestive tract peristalsis, human body motion and the like. When it is judged according to the image information that the vibration capsule reaches the colon, the vibration motor 40 vibrates according to the preset driving signal intensity, and judges and adjusts the amplitude of the vibration capsule in real time to achieve the expectation.
In a specific embodiment, the vibration capsule further comprises an illumination module 20 and a power module (not shown), wherein the illumination module 20 is used for providing illumination for the imaging module 10, and the power module is used for supplying power to each module arranged in the vibration capsule.
In a preferred embodiment, the vibrating capsule further comprises a recording module (not shown) for recording vibration information of the vibrating capsule and control information of the control module 50, and a first wireless communication module (not shown); the first wireless communication module is used for wirelessly transmitting vibration information and control information. Specifically, the vibration information and the control information are sent to the external interaction device through the first wireless communication module.
The vibration information is the motion state information of the vibration capsule acquired and calculated by the acceleration sensor module 30, and the control information is the vibration state control information of the vibration motor 40 acquired by the control module 50 according to the position interval of the alimentary tract where the vibration capsule is located. The vibration information, the control information and the like can be updated in real time and stored in the recording module, and are sent to an external interaction device through the first wireless communication module. The user can check related information through special equipment or a mobile phone and the like, and can also give control instructions through the interaction device to actively adjust the vibration mode of the vibration capsule.
According to the vibrating capsule, the position of the digestive tract where the vibrating capsule is located can be accurately obtained by identifying the position of the image information obtained by the imaging module 10; the real-time vibration intensity X (t) of the vibration capsule is obtained through the acceleration sensor module 30, the effective vibration intensity S (t) is obtained from the real-time vibration intensity X (t), the current vibration mode is adjusted according to the comparison between the actual amplitude A (t) of the effective vibration intensity S (t) and the preset amplitude A0(t), the influence of the inner environment and the outer environment (such as human body movement) of the digestive tract can be eliminated, and the vibration state is accurately controlled. Further, the control module 50 controls the vibration capsule to vibrate in different vibration modes in different location intervals of the digestive tract in combination with the influence of different environmental factors of the digestive tract (for example, when the location interval where the vibration capsule is located is not a preset interval, the vibration capsule is controlled to be in a static mode), so as to save the battery power of the vibration capsule.
The invention also provides a vibration capsule system, which comprises the vibration capsule and an interaction device arranged outside the body.
Specifically, the interaction device comprises a second wireless communication module, a display module and an instruction control module, wherein the display module is used for displaying vibration information and image information sent by the vibration capsule, and the instruction control module is used for sending control instruction information to the vibration capsule through the second wireless communication module.
The vibration capsule comprises a recording module and a first wireless communication module, the recording module is used for recording vibration information of the vibration capsule, and the vibration information is sent to the interaction device through the first wireless communication module; the recording module is further configured to receive control instruction information sent by the interaction device, and the control instruction information is sent to the control module 50 of the vibrating capsule through the first wireless communication module.
The vibration information is the motion state information of the vibration capsule acquired and calculated by the acceleration sensor module 30, and the control instruction information is the vibration state control information of the interactive device to the vibration motor 40. The user can check the relevant information of the vibration capsule through special equipment or a mobile phone and the like, and can also give a control instruction through the interaction device to actively adjust the vibration mode of the vibration capsule.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a vibration capsule, its characterized in that, includes the shell, set up in imaging module, acceleration sensor module, vibrating motor and the control module in the shell, imaging module, acceleration sensor module, vibrating motor all with control module electric connection, wherein:
the imaging module is used for acquiring the position interval of the alimentary canal where the vibration capsule is positioned;
the acceleration sensor module is used for acquiring the total vibration intensity X (T) of the vibration capsule and acquiring the effective vibration intensity S (T) of the vibration capsule by combining with the preset vibration period T of the vibration motor; acquiring the actual amplitude A (t) of the vibrating capsule according to the effective vibration intensity S (t);
the control module is used for adjusting the driving signal intensity U (t) of the vibration motor according to the preset amplitude A0(t) and the actual amplitude A (t) of the position interval.
2. A vibrating capsule according to claim 1, wherein said acceleration sensor module comprises an acceleration sensor, said acceleration sensor module being further configured to:
and acquiring real-time acceleration information detected by the acceleration sensor, and calculating the total vibration intensity X (t) of the vibration capsule according to the real-time acceleration information.
3. A vibrating capsule according to claim 2, wherein said acceleration sensor module is further adapted to:
filtering interference signals in a mode of averaging in N vibration periods T to obtain the effective vibration intensity S (T), wherein the calculation formula is as follows:
wherein N, i is a positive integer, and i belongs to N.
4. A vibrating capsule according to claim 3, wherein said acceleration sensor module is further adapted to:
according to the calculation formula of the effective vibration intensity S (T), calculating the maximum value and the minimum value of the effective vibration intensity of the vibrating capsule in each vibration period T, and calculating the amplitude of each vibration period T to obtain the actual amplitude A (T) changing along with time.
5. A vibrating capsule according to claim 1, wherein said control module is further configured to:
obtaining the current driving signal intensity U (t) of the vibration motor, and calculating the target driving signal intensity U0(t) of the vibration motor:
the parameter k is a fixed value and is determined by the amplitude level of the preset amplitude a0(T), the position interval, and the vibration period T.
6. A vibrating capsule according to claim 1, wherein said control module is further configured to:
and when the position interval is not a preset interval, controlling the vibration capsule to be in a static mode.
7. The vibrating capsule of claim 1, wherein the imaging module is further configured to:
and acquiring image information of the alimentary canal where the vibration capsule is located, and acquiring the position interval of the alimentary canal where the vibration capsule is located by identifying the image information.
8. A vibrating capsule according to claim 1, further comprising an illumination module, a recording module, a first wireless communication module, and a power module, wherein:
the illumination module is used for providing illumination for the imaging module;
the recording module is used for recording vibration information of the vibration capsule and control information of the control module;
the first wireless communication module is used for wirelessly transmitting the vibration information and the control information;
the power supply module is used for supplying power to all modules arranged in the vibration capsule.
9. A vibrating capsule system, comprising:
the system comprising a vibrating capsule according to any of claims 1-8 and an interaction device arranged outside the body.
10. A vibrating capsule system as set forth in claim 9, wherein:
the interaction device comprises a second wireless communication module, a display module and an instruction control module, wherein the display module is used for displaying vibration information and image information sent by the vibration capsule, and the instruction control module is used for sending control instruction information to the vibration capsule through the second wireless communication module;
the vibration capsule comprises a recording module and a first wireless communication module, wherein the recording module is used for recording vibration information of the vibration capsule, and the vibration information is sent to the interaction device through the first wireless communication module; the recording module is further configured to receive control instruction information sent by the interaction device, and the control instruction information is sent to the control module of the vibrating capsule through the first wireless communication module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110962500.3A CN113679593B (en) | 2021-08-20 | 2021-08-20 | Vibration capsule and vibration capsule system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110962500.3A CN113679593B (en) | 2021-08-20 | 2021-08-20 | Vibration capsule and vibration capsule system |
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| CN113679593A true CN113679593A (en) | 2021-11-23 |
| CN113679593B CN113679593B (en) | 2023-12-15 |
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