CN117982085A - Handheld magnetic control device and capsule endoscope system - Google Patents
Handheld magnetic control device and capsule endoscope system Download PDFInfo
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- CN117982085A CN117982085A CN202410144892.6A CN202410144892A CN117982085A CN 117982085 A CN117982085 A CN 117982085A CN 202410144892 A CN202410144892 A CN 202410144892A CN 117982085 A CN117982085 A CN 117982085A
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- 239000002775 capsule Substances 0.000 title claims abstract description 147
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 230000006698 induction Effects 0.000 claims description 47
- 238000000034 method Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 24
- 210000002784 stomach Anatomy 0.000 description 19
- 238000010586 diagram Methods 0.000 description 6
- 230000001079 digestive effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000008054 signal transmission Effects 0.000 description 4
- 210000001035 gastrointestinal tract Anatomy 0.000 description 3
- 210000002429 large intestine Anatomy 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 210000000813 small intestine Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000038 chest Anatomy 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 210000003238 esophagus Anatomy 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011478 gradient descent method Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The present disclosure describes a handheld magnetic control device that is a magnetic control device that controls a capsule endoscope having a first magnet and an imaging device, and a capsule endoscope system including a grip portion having a permanent magnet rotatable about an X-axis and a magnetic control portion provided in the grip portion, the magnetic control portion controlling the capsule endoscope to roll in a tissue cavity of a subject with one end of the capsule endoscope as a fulcrum by controlling rotation of the permanent magnet, and the imaging device imaging an inner wall of the tissue cavity during or when rolling to a predetermined position. In the present disclosure, the capsule endoscope in the subject is guided, positioned, and controlled by the handheld magnetic control device, the operation is convenient, and the time required for detection can be reduced.
Description
The application is a divisional application of patent application with the application number 202010329418.2 and the application name of a capsule endoscope system, wherein the application date is 23/04/2020.
Technical Field
The present disclosure relates to the biomedical engineering industry, and more particularly to a handheld magnetic control device and a capsule endoscope system.
Background
With the development of modern medical technology, lesions on tissue walls of the digestive tract such as the stomach, the large intestine, the small intestine and the like can be snooped by swallowing a capsule endoscope, and a doctor can be assisted to acquire accurate information of a focus area in the digestive tract through the capsule endoscope so as to assist the doctor in diagnosing and treating a patient. Such capsule endoscopes typically have a magnet controlled by external magnetic control means, an imaging means and wireless transmission means for transmitting captured images to the outside. Specifically, a doctor, nurse, or other operator magnetically guides a capsule endoscope positioned in an organ such as a stomach, small intestine, or the like, which is a tissue cavity, by controlling an external magnetic control device, so that the capsule endoscope moves inside the tissue cavity, captures an image of a specific location (for example, a lesion area) in the tissue cavity, and then transmits the captured image to an external processing device by wireless transmission or the like, whereby the doctor or the like can observe and diagnose the digestive tract of the patient.
However, currently, external devices for controlling a capsule endoscope, such as a magnetic control device, generally have a magnetic control unit for generating a magnetic force to the capsule endoscope and a motor for driving the magnetic control unit to move, and an operator inputs a movement command to the motor to drive the magnetic control unit to move. In such a magnetic control device, there may be a delay between the input of the movement instruction and the response of the magnetic control portion, resulting in an excessively long inspection time, and in addition, there are problems such as complicated operations.
Disclosure of Invention
In view of the above-described conventional circumstances, an object of the present invention is to provide a capsule endoscope system capable of conveniently and rapidly detecting a subject.
To this end, the present disclosure provides a capsule endoscope system, comprising: a capsule endoscope that is introduced into a subject, the capsule endoscope having a first magnet and an imaging device; a handheld magnetic control device, comprising: a grip portion having a long shape, the grip portion having a rear end for gripping and a front end remote from the rear end; a magnetic control unit provided at a distal end of the grip unit, the magnetic control unit having a rotatable permanent magnet and controlling the movement of the capsule endoscope in the subject by applying a magnetic force to the first magnet; a positioning part provided at the grip part and having a predetermined distance from the permanent magnet, the positioning part being for measuring a position of the capsule endoscope; and a magnet driving part for driving the permanent magnet to rotate so as to control the rotation of the capsule endoscope; and a processing device for receiving an image captured by the imaging device in the subject.
In the capsule endoscope system related to the present disclosure, the capsule endoscope in the subject is guided, positioned, and controlled by the handheld magnetic control device, the operation is convenient, and the time required for detection can be reduced.
In addition, in the capsule endoscope system according to the present disclosure, a first wireless transceiver device and a second wireless transceiver device provided in the capsule endoscope may be further included, and the capsule endoscope may communicate wirelessly with the first wireless transceiver device through the second wireless transceiver device. Therefore, the capsule endoscope and the first wireless transceiver device can be convenient for wireless communication and signal transmission.
In addition, in the capsule endoscope system according to the present disclosure, optionally, the first wireless transceiver is disposed on the handheld magnetic control device. This can better communicate with the second wireless transceiver of the capsule endoscope.
In addition, in the capsule endoscope system related to the present disclosure, optionally, the permanent magnet is a cylinder. Thus, the capsule endoscope can be conveniently controlled.
In addition, in the capsule endoscope system according to the present disclosure, the positioning portion may include a plurality of magnetic sensors. This enables accurate positioning of the capsule endoscope positioned in the subject.
In addition, in the capsule endoscope system according to the present disclosure, optionally, the plurality of magnetic sensors are configured to detect a magnetic field of the capsule endoscope in a three-dimensional direction. This enables accurate positioning of the capsule endoscope positioned in the subject.
Additionally, in the capsule endoscope system according to the present disclosure, optionally, the handheld magnetic control device is wired to the processing device. Thus, the handheld magnetic control device and the processing device can perform stable signal transmission.
In addition, in the capsule endoscope system according to the present disclosure, optionally, the processing device further includes a third wireless transceiver device that wirelessly communicates with the first wireless transceiver device. Thus, the handheld magnetic control device can more conveniently perform signal transmission with the processing device.
In addition, in the capsule endoscope system according to the present disclosure, optionally, the processing device acquires a first magnetic induction intensity from the permanent magnet induced by the positioning portion when the permanent magnet is located at a predetermined position, and a second magnetic induction intensity from the handheld magnetic control device and the first magnet induced by the positioning portion when the subject is located at the handheld magnetic control device side and the permanent magnet is located at a predetermined position, calculates a third magnetic induction intensity from the capsule endoscope induced by the positioning portion based on the first magnetic induction intensity and the second magnetic induction intensity, and calculates a position of the first magnet of the capsule endoscope with respect to the magnetic sensor module from the third magnetic induction intensity. Thus, the interference generated by the permanent magnet can be effectively reduced.
In addition, in the capsule endoscope system according to the present disclosure, optionally, the processing means calculates a fourth magnetic induction intensity from the first magnet induced by the positioning portion when the capsule endoscope is at the preset coordinates based on the magnetic dipole model of the first magnet and the preset coordinates of the capsule endoscope within the tissue cavity, compares the third magnetic induction intensity with the fourth magnetic induction intensity to correct the preset coordinates, and makes the preset coordinates within a predetermined error be the positioning position of the capsule endoscope. This enables the capsule endoscope to be positioned more accurately.
According to the present disclosure, a capsule endoscope system capable of detecting a subject conveniently and quickly can be provided.
Drawings
Embodiments of the present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:
fig. 1 is a schematic view showing a capsule endoscope system according to the present embodiment.
Fig. 2 is a schematic view showing a capsule endoscope according to the present embodiment.
Fig. 3 is a block diagram schematically showing a capsule endoscope according to the present embodiment.
Fig. 4 is a schematic diagram showing one of the view angles of the hand-held magnetic control device according to the present embodiment.
Fig. 5 is a schematic diagram showing another view angle of the handheld magnetic control device according to the present embodiment.
Detailed Description
Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
Fig. 1 is a schematic view showing a capsule endoscope system 1 according to the present embodiment. Fig. 2 is a schematic view showing the capsule endoscope 10 according to the present embodiment. Fig. 3 is a block diagram schematically showing the capsule endoscope 10 according to the present embodiment.
Referring to fig. 1 to 3, a capsule endoscope system 1 according to the present embodiment may include a capsule endoscope 10, a handheld magnetic control device 20, and a processing device 30. Wherein the capsule endoscope 10 can be positioned in the tissue cavity 3 of the subject 2 and can acquire images in the tissue cavity 3, the handheld magnetic control device 20 can magnetically control the capsule endoscope 10 so as to enable the capsule endoscope 10 to move in the tissue cavity 3, and the processing device 30 can receive and process the images acquired by the capsule endoscope 10 in the tissue cavity 3.
(Capsule endoscope 10)
The capsule endoscope 10 according to the present embodiment is a medical device which is formed so as to be capable of being introduced into the tissue cavity 3 of the subject 2 and is shaped like a capsule. From an external perspective, the capsule endoscope 10 may be in the form of a capsule-shaped housing (see fig. 2). The capsule type housing of the capsule endoscope 10 may be a capsule type housing formed in a size that can be introduced into the subject 2. Wherein both end openings of the capsule type housing are plugged by a dome type housing having a dome shape, thereby maintaining a liquid-tight state. The dome-shaped housing is a transparent optical dome that transmits light (e.g., visible light) in a predetermined wavelength band. In some examples, the cylindrical housing may be a substantially opaque housing.
In the present embodiment, the tissue cavity 3 may be a digestive cavity such as stomach, esophagus, large intestine, colon, small intestine, or the like. In addition, in some examples, the tissue cavity 3 may also be a non-digestive cavity such as the abdominal cavity, the thoracic cavity, and the like. For digestive lumens such as the stomach, esophagus, large intestine, etc., the capsule endoscope 10 may be consumed to access the digestive lumen, while for non-digestive lumens, the capsule endoscope 10 may be placed into the non-digestive lumen by opening a minimally invasive opening for clinical procedures.
In the present embodiment, the capsule endoscope 10 may include a magnet (first magnet 11) and an imaging device 12. Wherein a hand-held magnetic control device 20 (described later) can apply a magnetic force to the first magnet 11 to control movement of the capsule endoscope 10. The capsule endoscope 10 can acquire an image of the inside of the tissue cavity 3 of the subject 2 by the imaging device 12.
In some examples, the camera 12 may be disposed at the same end as the transparent optical dome.
Additionally, in some examples, the interior of the capsule endoscope 10 may also be provided with a second wireless transceiver 13, the second wireless transceiver 13 being in wireless communication with the handheld magnetic control device 20.
Additionally, in some examples, the capsule endoscope 10 may also include an illumination device 14. In addition, in some examples, the capsule endoscope 10 may further include a signal processing device 15 or the like (see fig. 3).
In some examples, when the capsule endoscope 10 takes an end close to the imaging device 12 as a fulcrum, the imaging device 12 may image the inner wall where the fulcrum is located, thereby enabling close-up imaging of the inner wall of the tissue cavity 3 and enabling clearer images of the inner wall to be captured. In other examples, when the capsule endoscope 10 has an end remote from the imaging device 12 as a fulcrum, the imaging device 12 may take an image of the inner wall on the opposite side of the fulcrum, thereby enabling more images to be taken with respect to the tissue cavity 3.
In other examples, the imaging devices 12 may be provided at both ends of the capsule endoscope 10, respectively, thereby enabling the capsule endoscope 10 to more conveniently acquire images with respect to the inner wall of the tissue cavity 3.
In this embodiment, the capsule endoscope 10 is movable within the space in the tissue cavity 3 under the influence of the magnetic field generated by the hand-held magnetic control device 20.
(Hand-held magnetic control device 20)
Fig. 4 is a schematic diagram showing one view angle of the hand-held magnetic control device 20 according to the present embodiment. Fig. 5 is a schematic diagram showing another view of the handheld magnetic control device 20 according to the present embodiment. Specifically, fig. 4 is a schematic perspective view showing the hand-held magnetic control device 20 according to the present embodiment, and fig. 5 is a plan view showing one surface of the hand-held magnetic control device 20 according to the present embodiment, which has the first wireless transceiver 250.
In the present embodiment, the hand-held magnetic control device 20 may include a grip portion 210 for a user to grip, a magnetic control portion 220 for magnetically controlling the capsule endoscope 10, a positioning portion 230 for positioning the position of the capsule endoscope 10 in the tissue cavity 3, and a magnet driving portion 240 for driving the magnetic control portion 220 to rotate.
In the present embodiment, the capsule endoscope 10 in the subject 2 is guided, positioned, and controlled by the hand-held magnetic control device 20, which is simple and intuitive to operate, and is time-saving and labor-saving, so that the labor cost can be reduced, and the diagnosis efficiency can be improved.
Referring to fig. 4 and 5, in the present embodiment, the handheld magnetic control device 20 may include a grip portion 210, a magnetic control portion 220, a positioning portion 230, and a magnet driving portion 240. The grip portion 210 may have a long shape, and the grip portion 210 may have a rear end for gripping and a front end remote from the rear end. The magnetic control unit 220 may be provided at the distal end of the grip unit 210, and the magnetic control unit 220 may have a rotatable permanent magnet 221 and may control the movement of the capsule endoscope 10 within the subject 2 by applying a magnetic force to the first magnet 11. The positioning part 230 may be provided at the grip part 210 and may have a predetermined distance from the permanent magnet 221, and the positioning part 230 may be used to measure the position of the capsule endoscope 10 within the tissue cavity 3. The magnet driving part 240 may be used to drive the permanent magnet 221 to rotate so as to control the rotation of the capsule endoscope 10.
In some examples, the front end of the grip portion 210 may be used to carry the magnetic control portion 220, the positioning portion 230, the magnet driving portion 240 (described below), and other circuit components, and the rear end of the grip portion 210 is used to be gripped by an inspector at the time of inspecting the subject 2. In some examples, the grip 210 may be designed to be elongated. In other examples, the front end of the grip part 210 may be provided in a shape having a large area such as a pie shape, a flat plate shape, etc., thereby being capable of more conveniently carrying the magnetron part 220, the positioning part 230, the magnet driving part 240, and other circuit components; the rear end of the grip portion 210 may be formed in a long shape that is easy to be gripped by an inspector.
In some examples, the magnetic control part 220 may be disposed at a front end of the grip part 210 and may be disposed at a predetermined distance from the positioning part 230.
In some examples, the permanent magnet 221 may be a cylinder. In other examples, the permanent magnets 221 may be spheres, ellipsoids, or the like.
In some examples, the permanent magnet 221 may rotate about the x-axis, thereby moving the capsule endoscope 10 over the inner wall of the tissue cavity 3. In some examples, the capsule endoscope 10 may roll along the length of the capsule endoscope 10 on the inner wall of the tissue cavity 3 under the guidance of the magnetic force of the cylinder.
Specifically, the deflection of the polarities (N-pole and S-pole) of the permanent magnet 221 can bring about the deflection of the polarity of the first magnet 11 in the capsule endoscope 10 located in the subject 2, and fix the first magnet 11 inside the subject 2. Thereby, the capsule endoscope 10 can be moved within the tissue cavity 3 in the subject 2 by guiding the deflection of the first magnet 11.
In some examples, the capsule endoscope 10 can be controlled to roll within the tissue cavity 3 in the subject 2 by controlling the permanent magnet 221. That is, the capsule endoscope 10 can be rolled with one end or the other end having the optical dome as a fulcrum, and the inner wall of the tissue cavity 3 (for example, stomach) can be photographed during rolling or when rolling to a certain position. In this manner of movement, the influence of folds or protrusions of the stomach wall on the movement of the capsule endoscope 10 can be avoided.
In some examples, the capsule endoscope system 1 may further include a first wireless transceiver 250 and a second wireless transceiver 13 disposed within the capsule endoscope 10, the capsule endoscope 10 being in wireless communication with the first wireless transceiver 250 via the second wireless transceiver 13.
In some examples, the first wireless transceiver 250 may be provided on the handheld magnetic control device 20, thereby enabling simplification of the apparatus. Further, the first transceiver 250 may be disposed on one side of the cylindrical permanent magnet, in which case, the first transceiver 250 can be located closer to the second transceiver 13 located in the capsule endoscope 10, so that the wireless communication between the first transceiver 250 and the second transceiver 13 can have a better signal-to-noise ratio.
In some examples, the positioning portion 230 may be disposed below the front end of the grip portion 210 and near the magnet driving portion 240, thereby enabling more accurate positioning of the position of the capsule endoscope 10 in the tissue cavity 3.
In some examples, the positioning part 230 may include a plurality of magnetic sensors, the plurality of sensors may be provided as a sensor array arranged at a predetermined distance, and the plurality of magnetic sensors may be configured to detect a magnetic field of the capsule endoscope 10 in a three-dimensional direction. Thereby, the capsule endoscope 10 can be positioned more accurately (specifically described later in the processing device 30).
In some examples, the magnetic sensor may be a hall sensor or the like.
In some examples, the magnet drive 240 may be used to drive rotation of the capsule endoscope 10.
In some examples, the magnet drive 240 may be a drive motor or the like. The magnet driving part 240 may be provided on an upper surface of the front end of the grip part 210.
(Processing device 30)
In some examples, images captured by the capsule endoscope 10 within the tissue cavity 3 may be processed and displayed via the processing device 30.
In some examples, processing device 30 may calculate the coordinate position of capsule endoscope 10 in tissue cavity 3. The processing device 30 can acquire the first magnetic induction from the permanent magnet 221 induced by the positioning portion 230 when the permanent magnet 221 is located at the predetermined position, and the second magnetic induction from the handheld magnetic control device 20 and the first magnet 11 induced by the positioning portion 230 when the object 2 is located on the side of the handheld magnetic control device 20 and the permanent magnet 221 is located at the predetermined position, calculate the third magnetic induction from the capsule endoscope 10 induced by the positioning portion 230 based on the first magnetic induction and the second magnetic induction, and calculate the position of the first magnet 11 of the capsule endoscope 10 with respect to the plurality of magnetic sensors based on the third magnetic induction. This effectively eliminates the interference of the magnetic field generated by the permanent magnet 221, and thus the positioning position of the capsule endoscope 10 in the subject 2 can be accurately measured.
Specifically, the permanent magnet 221 is repeatedly rotated about the x-axis, and the magnitude of the magnetic field generated by the magnetic control unit 220 is changed by moving the examiner in a three-dimensional space (the stomach position of the examinee). Thus, by rotating the permanent magnet 221, the permanent magnet 221 always returns to a certain predetermined state through a periodic movement. Therefore, the first magnetic induction intensity from the permanent magnet 221 induced by the positioning portion 230 when the permanent magnet 221 is located at the predetermined position can be measured in advance by the positioning portion 230.
In some examples, the first magnetic induction may be a first magnetic induction measured when the permanent magnet 221 is parallel to a horizontal plane. In some examples, the first magnetic induction may be a first magnetic induction measured when the permanent magnet 221 continues to rotate 90 ° (perpendicular to the horizontal plane). In some examples, the first magnetic induction may be a first magnetic induction measured when the permanent magnet 221 rotates 45 °.
In addition, in the present embodiment, the processing device 30 may calculate the fourth magnetic induction intensity (X c0,Yc0,Zc0) from the first magnet 11 induced by the respective magnetic sensors of the positioning portion 230 at the preset coordinate X1 of the capsule endoscope 10 based on the magnetic dipole model of the first magnet 11 and the preset coordinate X1 of the capsule endoscope 10 within the tissue cavity 3, compare the third magnetic induction intensity X c,Yc,Zc with the fourth magnetic induction intensity (X c0,Yc0,Zc0) to correct the preset coordinate X1 to X2, and make the preset coordinate X2 within a predetermined error be the positioning position P of the capsule endoscope 10. Thus, the preset coordinates can be gradually approximated to the positioning position by approximating the fourth magnetic induction intensity (X c0,Yc0,Zc0) to the third magnetic induction intensity (X c,Yc,Zc), so that the capsule endoscope 10 can be accurately positioned within a reasonable error.
In some examples, during the approximation of the positioning position P by the preset position X1, for example, a minimum gradient descent method may be used, so that the magnetic induction B1 generated by the capsule endoscope 10 at the X1 position is continuously iterated B1 to B2 (the magnetic induction generated by the capsule endoscope 10 at the X2 position) in the direction (for example, the direction of X1 to X2) in which the descent speed or the growth speed is the fastest, so that B1 approximates the magnetic induction B3 generated by the capsule endoscope 10 at the actual position P, and finally, X2 is determined as the positioning position of the capsule endoscope 10 within a reasonable error range of B2 and B3.
In the present embodiment, since the first magnet 11 is spaced apart from the positioning portion 230 by a certain distance, the first magnet 11 can be regarded as a magnetic dipole in practical clinical applications, and in this case, the magnetic dipole model of the first magnet 11 can be given by:
in formula (I), due to the magnetic moment of the first magnet 11 The fourth magnetic induction (X c0,Yc0,Zc0) can be determined in advance, and thus can be determined directly from the predetermined coordinates.
In the present embodiment, the signal processing and control device calculates the fourth magnetic induction intensity (X c0,Yc0,Zc0), continuously simulates the preset position so that the fourth magnetic induction intensity (X c0,Yc0,Zc0) approaches the third magnetic induction intensity (X c,Yc,Zc), and determines the final simulated preset position as the positioning position of the capsule endoscope 10.
In some examples, handheld magnetic control device 20 may be wired to processing device 30. Thus, the signal can be transmitted more stably.
In some examples, the processing device 30 further includes a third wireless transceiver device that is in wireless communication with the second wireless transceiver device 13. Thus, the handheld magnetic control device 20 can be more conveniently used for signal transmission with the processing device 30.
The specific operation procedure of the present disclosure when inspecting the subject 2 is as follows:
In the present embodiment, taking stomach examination as an example, when examination is performed on the subject 2, the subject 2 may be first passed through the capsule endoscope 10 orally, and then the examiner may hold the hand-held magnetic control device 20 close to the stomach of the subject 2 to perform examination. During the examination, the magnetic control part 220 of the hand-held magnetic control device 20 can be made to approach the stomach, and the magnetic control part 220 rotates around the x-axis polarity (refer to fig. 4) under the action of the magnet driving part 240, so as to drive the capsule endoscope 10 to move in the stomach. On the one hand, the examiner can manually move the hand-held magnetic control device 20 at a position close to the stomach, as in fig. 1, when examining the stomach at the chest portion of the subject 2, the attraction force to the capsule endoscope 10 can be increased by making the hand-held magnetic control device 20 close to the stomach, and thus the capsule endoscope 10 can be moved to a position close to the front side of the chest; on the other hand, when a side surface of the stomach near the back of the subject 2 is inspected, the hand-held magnetic control device 20 may be moved to the back side, and then the inspector may operate the hand-held magnetic control device 20 to inspect the subject 2 as in the above-described operation method. Of course, the position of the hand-held magnetic control device 20 in the three-dimensional space can be adjusted to adjust the magnetic force, and the capsule endoscope 10 can be controlled to move in the subject 2 in accordance with the rotation of the magnetic control unit 220.
In the present embodiment, on the one hand, the processing device 30 may receive and display an image captured by the capsule endoscope 10; on the other hand, since the position of the capsule endoscope 10 in the stomach cannot be displayed directly by the captured image, the capsule endoscope 10 can be positioned by the positioning portion 230 (i.e., the plurality of magnetic sensors) provided on the back surface of the grip portion 210, and the coordinate position of the capsule endoscope 10 in the stomach can be calculated by the external processing device 30, so that the movement of the capsule endoscope 10 in the stomach can be planned more conveniently, and thus the stomach can be sufficiently inspected, and omission of inspection can be avoided. The method of positioning the capsule endoscope 10 is described in part with reference to the positioning portion 230 and the processing device 30, and will not be described in detail herein.
In the present disclosure, the capsule endoscope 10 in the subject 2 is guided, positioned and controlled by the hand-held magnetic control device 20, which is simple and intuitive to operate, and is time-saving and labor-saving, so that the labor cost can be reduced, and the diagnosis efficiency can be improved.
While the disclosure has been described in detail in connection with the drawings and embodiments, it should be understood that the foregoing description is not intended to limit the disclosure in any way. Modifications and variations of the present disclosure may be made as desired by those skilled in the art without departing from the true spirit and scope of the disclosure, and such modifications and variations fall within the scope of the disclosure.
Claims (10)
1. A hand-held magnetic control device, which is used for controlling a capsule endoscope, the capsule endoscope is provided with a first magnet and an imaging device, and is characterized in that,
The handheld magnetic control device comprises a holding part and a magnetic control part arranged on the holding part, wherein the magnetic control part is provided with a permanent magnet capable of rotating around an X axis, the magnetic control part controls the capsule endoscope to roll in a tissue cavity of a detected body by controlling the rotation of the permanent magnet by taking one end of the capsule endoscope as a fulcrum, and the camera device shoots the inner wall of the tissue cavity in the rolling process or when the camera device rolls to a preset position.
2. The handheld magnetic control device of claim 1, wherein the magnetic control device comprises a magnetic control device,
The permanent magnet is a cylinder.
3. The handheld magnetic control device of claim 1, wherein the magnetic control device comprises a magnetic control device,
The holding part is provided with a rear end for holding and a front end far away from the rear end, and the magnetic control part is arranged at the front end.
4. The handheld magnetic control device of claim 1, wherein the magnetic control device comprises a magnetic control device,
Comprises a magnet driving part for driving the permanent magnet to rotate so as to control the capsule endoscope to rotate.
5. The handheld magnetic control device of claim 1, wherein the magnetic control device comprises a magnetic control device,
The capsule endoscope comprises a positioning part which is arranged on the holding part and has a preset distance with the permanent magnet, and the positioning part is used for measuring the position of the capsule endoscope.
6. The handheld magnetic control device of claim 5, wherein the magnetic control device comprises a magnetic control device,
The positioning portion includes a plurality of magnetic sensors configured to detect a magnetic field of the capsule endoscope in three dimensions.
7. The handheld magnetic control device of claim 6, wherein,
The method comprises the steps of obtaining first magnetic induction intensity from the permanent magnet, which is induced by the positioning part when the permanent magnet is located at a preset position, and second magnetic induction intensity from the handheld magnetic control device and the first magnet, which is induced by the positioning part when the detected body is located at one side of the handheld magnetic control device and the permanent magnet is located at the preset position, calculating third magnetic induction intensity from the capsule endoscope, which is induced by the positioning part, based on the first magnetic induction intensity and the second magnetic induction intensity, and calculating the position of the first magnet of the capsule endoscope relative to the plurality of magnetic sensors according to the third magnetic induction intensity.
8. The handheld magnetic control device of claim 7, wherein the magnetic control device comprises a magnetic control device,
Based on the magnetic dipole model of the first magnet and preset coordinates of the capsule endoscope in the tissue cavity, calculating fourth magnetic induction intensity from the first magnet induced by the positioning part when the capsule endoscope is at the preset coordinates, comparing the third magnetic induction intensity with the fourth magnetic induction intensity to correct the preset coordinates, and enabling the preset coordinates within a preset error to be the positioning position of the capsule endoscope.
9. The handheld magnetic control device of claim 8, wherein the magnetic control device comprises a magnetic control device,
And in the process of approaching the positioning position through the preset coordinates, continuously substituting fourth magnetic induction intensity generated by the capsule endoscope at the position of the preset coordinates with the magnetic induction intensity generated by the capsule endoscope at the position of the target coordinates in the direction of the fastest descending speed or the fastest growing speed, so that the fourth magnetic induction intensity after iteration approaches the third magnetic induction intensity, and determining the target coordinates of the final iteration as the positioning position within the preset error.
10. A capsule endoscopic system, comprising a capsule endoscope and the handheld magnetic control device of any one of claims 1 to 9.
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| EP2338402A4 (en) * | 2008-10-24 | 2013-03-20 | Olympus Medical Systems Corp | Capsular endoscopic system |
| CN202843565U (en) * | 2012-10-08 | 2013-04-03 | 安翰光电技术（武汉）有限公司 | Medical magnetic capsule endoscope system |
| TWI520708B (en) * | 2013-09-26 | 2016-02-11 | 連吉時 | Magnetic control system for capsule endoscope |
| CN106061361B (en) * | 2014-08-20 | 2018-04-03 | 奥林巴斯株式会社 | Guide device and encapsulated medical device guiding system |
| CN110192838A (en) * | 2014-09-15 | 2019-09-03 | 上海安翰医疗技术有限公司 | A kind of device and method that control capsule endoscope is moved in human body alimentary canal |
| EP3539456B1 (en) * | 2014-09-15 | 2021-06-23 | Ankon Medical Technologies (Shanghai) Co., Ltd | Apparatus for controlling the movement of a capsule endoscope in the digestive tract of a human body |
| CN204618172U (en) * | 2015-04-27 | 2015-09-09 | 湖北大学 | Based on the hand-held capsule endoscope control device of magnetic active control |
| CN105286762A (en) * | 2015-10-30 | 2016-02-03 | 青岛光电医疗科技有限公司 | External-use controller for positioning, steering and displacement of in-vivo microminiature device |
| PH12017000281A1 (en) * | 2017-10-02 | 2019-06-24 | Asis Edwin Francis De | MAGNETICALLY MANEUVERABLE LAPAROSCOPIC CAMERA SYSTEM 360ø |
| CN208339488U (en) * | 2017-10-11 | 2019-01-08 | 杨杰 | A kind of hand-held active control magnetic capsule cystoscope |
| CN208492032U (en) * | 2017-12-04 | 2019-02-15 | 湖北大学 | A kind of capsule endoscopic device based on magnetic active control |
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