CN203122345U - Controlling system of running track of capsule endoscope - Google Patents
Controlling system of running track of capsule endoscope Download PDFInfo
- Publication number
- CN203122345U CN203122345U CN 201220711021 CN201220711021U CN203122345U CN 203122345 U CN203122345 U CN 203122345U CN 201220711021 CN201220711021 CN 201220711021 CN 201220711021 U CN201220711021 U CN 201220711021U CN 203122345 U CN203122345 U CN 203122345U
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- capsule endoscope
- solenoid
- control system
- handle
- microprocessor
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Abstract
The utility model discloses a controlling system of a running track of a capsule endoscope. The controlling system of the running track of the capsule endoscope comprises a plurality of electromagnetic coils, an electromagnetic power supplying system, a microprocessor and a handle controlling system. The handle controlling system is in electric connection with the electromagnetic power supplying system through the microprocessor, the electromagnetic power supplying system is in electric connection with the electromagnetic coils, the handle controlling system is pushed through a hand, coordination information is generated, the coordination information is converted into current amplitude values related to the corresponding electromagnetic coils through the microprocessor, and the current amplitude values are output to a corresponding electromagnetic coil, the electromagnetic coil is enabled to generate gravitational field equal to the push force of the handle to control the running track of the capsule endoscope with a magnet inside intestines and stomach of a human body and carry out real-time control and adjustment of the running track of the capsule endoscope, and therefore the purpose of shooting intestines and stomach walls at specific positions and obtaining clearer and more accurate images can be achieved.
Description
Technical field
This utility model relates to capsule endoscope, refers to especially a kind ofly can control control system with conversion to running orbit in the intestines and stomach of capsule endoscope.
Background technology
Capsule endoscopic is the scientific and technological new product of medical development, it day by day is widely used in the medically clinical diagnosis of various diseases, adopt painless AT monitoring, diagnosing, enter after oral in human stomach or the intestinal, by its inner stomach of its lens assembly shooting at close range or intestinal wall situation, to carry out clinical diagnosis, alleviate patient's clinical misery.
After capsule endoscope enters in the body, need carry out image to the stomach of human body, capsule endoscope is in free state, free-floating in body fluid, because its position is uncertain, captured image has too big randomness, people are difficult to judge the orientation of the image of taking the photograph sometimes, be difficult to judge the integral status in the stomach, or institute's tumor of taking the photograph is in its position where, how to determine institute's image of taking the photograph under one's belt the orientation and to carry out the controllability shooting be a major issue that needs to be resolved hurrily.
Therefore, be necessary to provide a kind of control system that can control the running orbit of capsule endoscope in the intestines and stomach, controllably the intestines and stomach wall is clearly taken, improve accuracy and the degree of accuracy of medical diagnosis.
The utility model content
Based on the deficiencies in the prior art, it is a kind of by handle controlling magnetic field direction and size, with the control system that the running orbit of the capsule endoscope in the human body is controlled and adjusted that main purpose of the present utility model is to provide.
This utility model provides a kind of control system of capsule endoscope running orbit, it comprises several solenoids, the electric magnet electric power system, microprocessor and handle control system, described handle control system is electrically connected with the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected with several solenoids, by hand-held driving handle control system, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid through microprocessor, export corresponding solenoid to, make the solenoid of energising produce the magnetic attraction consistent with handle thrust, with the running orbit of capsule endoscope in the human body the intestines and stomach of control carry magnet.
Preferably, described several solenoids on capsule endoscope, drive its level run in the human body the intestines and stomach with the magneticaction that produces horizontal direction on same horizontal plane.
Preferably, described microprocessor comprises the coordinate transformation module, wherein be provided with the coordinate axes of handle control system, the coordinate axes of electric magnet power supply amplitude and the coordinate axes of solenoid, described coordinate transformation module receives described handle control system and produces first coordinate information that comprises handle thrust and export on the coordinate axes of handle control system, be translated into second coordinate information that comprises the current amplitude value and export to the coordinate axes of electric magnet power supply amplitude, feed back to the electric magnet electric power system to power to solenoid, described first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.Handle thrust is converted into electromagnetic force, to produce magnetic field the running orbit of capsule endoscope in the intestines and stomach is positioned directed quantitative control and adjustment.
Wherein, the coordinate axes of the coordinate axes of described solenoid, electric magnet power supply amplitude is identical with the pointing direction of the coordinate axes of handle control system, and correspondence is in proportion.Under "on" position, the magnetic resultant direction that solenoid produces is identical with the direction of current amplitude, and the correspondence that is in proportion makes the capsule endoscope of the carry magnet in the human body the intestines and stomach move along the handle thrust direction.
Preferably, described solenoid has two at least, is electrically connected with the electric magnet electric power system respectively.
Preferably, described solenoid is even number, is symmetrically distributed in twos, makes a concerted effort to control magnetic that solenoid is produced symmetrically.
Compared with prior art, the control system of capsule endoscope operation attitude of the present utility model, handle orientations and application of force size by adversary's handle control system are controlled, characterize out first coordinate information of handle thrust at the coordinate axes of the handle control system of microprocessor, described first coordinate information is converted to second coordinate information of the current amplitude value that characterizes the electric magnet power supply by coordinate transferring, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to the big or small magnetic force of special angle again, and then reach by handle magnetic direction and the big or small purpose of controlling, utilize this technology that the running orbit of the capsule endoscope in the human body is controlled in real time and adjusted, to reach the intestines and stomach wall of taking particular orientation, obtain the more purpose of clear and accurate image, help to make a definite diagnosis quickly the accuracy and the degree of accuracy that have improved diagnosis greatly or detected.
Description of drawings
Fig. 1 is the structural representation of this utility model capsule endoscope;
Fig. 2 is the magnetic flux state diagram of the control system of this utility model capsule endoscope running orbit;
Fig. 3 is the system block diagram of the control system of this utility model capsule endoscope running orbit;
Fig. 4 is the coordinate diagram of solenoid of the control system of this utility model capsule endoscope running orbit;
Fig. 5 is the coordinate diagram of handle control system of the control system of this utility model capsule endoscope running orbit;
Fig. 6 is the coordinate diagram of solenoid power supply amplitude of the control system of this utility model capsule endoscope running orbit.
The specific embodiment
Referring to figs. 1 through shown in Figure 3, this utility model provides a kind of control system 100 of capsule endoscope running orbit, it comprises several solenoids 10, electric magnet electric power system 20, microprocessor 30 and handle control system 40, described handle control system 40 is electrically connected with electric magnet electric power system 20 by microprocessor 30, described electric magnet electric power system 20 is electrically connected with several solenoids 10, by hand-held driving handle control system 40, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid 10 through microprocessor 30, export corresponding solenoid 10 to, make the solenoid 10 of energising produce the magnetic attraction consistent with the handle pushing direction, with the running orbit of capsule endoscope 50 in the human body the intestines and stomach of control carry magnet.
In this utility model, described control system 100 is in conjunction with handle control system 40, come the DM electric power system to produce that direction is identical with it by driving handle, corresponding current amplitude value is in proportion, transfer to the solenoid 10 on the corresponding coordinate position, to produce the make a concerted effort operation of capsule endoscope 40 in the human body the intestines and stomach of rotating band Magnet of correspondingly magnetic.By controlling the direction of the magnetic line of force that produces, drive the operation of capsule endoscope, reach and control its purpose of running orbit in vivo.
In this utility model, described solenoid 10 has two at least, is electrically connected with electric magnet electric power system 20 respectively.Preferably, described solenoid is even number, is symmetrically distributed in twos, makes a concerted effort to control magnetic that solenoid is produced symmetrically.In a preferred embodiment of the present utility model, described solenoid 10 is provided with four, is arranged on the same horizontal plane, be symmetrically distributed in twos, and form right angle between the two adjacent solenoids 10, with the horizontal direction operation of control capsule endoscope.With reference to shown in Figure 4, orientation by solenoid 10 arranges coordinate axes, on the coordinate axes of this solenoid, if lateral coordinates is T1-T2 direction, along slope coordinate is U1-U2 direction, and solenoid A is located on the U1 direction of coordinate axes, solenoid B is located on the U2 direction of coordinate axes, solenoid C is located on the T1 direction of coordinate axes, and solenoid D is located on the T2 direction of coordinate axes, and corresponding sign is carried out in the position to each solenoid on coordinate axes.Be appreciated that described coordinate axes can arrange according to position and the number of solenoid, make solenoid controlledly in the specific direction of coordinate axes, to produce magnetic field.
In this utility model, described microprocessor 30 comprises the coordinate transformation module, in described coordinate transformation module, be provided with the coordinate axes of handle control system and the coordinate axes of electric magnet power supply amplitude, when driving handle, the coordinate transformation module receives described handle control system 40 first coordinate information that comprises handle pushing direction value that produces, be translated into second coordinate information that comprises the current amplitude value, feed back to electric magnet electric power system 20 to power to solenoid 10, described first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
With reference to shown in Figure 5, among described coordinate transformation module, on the coordinate axes of handle control system, this coordinate axes X1 is corresponding with the T1 of solenoid coordinate axes, coordinate axes X2 is corresponding with the T2 of solenoid coordinate axes, coordinate axes Y1 is corresponding with the U1 of solenoid coordinate axes, coordinate axes Y2 is corresponding with the U2 of solenoid coordinate axes, on the coordinate axes of handle control system, to X1 and Y1 direction driving handle, the coordinate information of handle thrust is (X0, Y0), the angle between thrust direction and the coordinate axes X1 is the θ angle, has set the first coordinate information (X0 of handle thrust thus, Y0), the unit of coordinate is newton.With reference to shown in Figure 6, on the coordinate axes of electric magnet power supply amplitude, this coordinate axes A1 is corresponding with the X1 of handle control system coordinate axes, coordinate axes A2 is corresponding with the X2 of handle control system coordinate axes, coordinate axes B1 is corresponding with the Y1 of handle control system coordinate axes, coordinate axes B2 is corresponding with the Y2 of handle control system coordinate axes, handle through the coordinate transformation module, first coordinate information (the X0 of handle thrust vectoring information will be characterized, Y0), be converted into second coordinate information that characterizes electric magnet power supply information (A0, B0), the unit of coordinate is ampere, and the angle between the sense of current and the coordinate axes A1 also is the θ angle.Be provided with the coordinate axes of solenoid in the electric magnet electric power system, characterize the relative position of each solenoid and size and the angle that magnetic is made a concerted effort.Because the coordinate axes of described solenoid, the coordinate axes of electric magnet power supply amplitude is identical with the sensing of the coordinate axes of handle control system, transform by electromagnetism, to solenoid A output current B0, to solenoid C output current A0, on the coordinate axes of solenoid, coordinate unit is electromagnetic attraction newton, solenoid A produces magnetic force U0, solenoid C produces magnetic force T0, corresponding with the branch supply current of electric magnet, the magnetic of the three-dimensional information that magnetic force U0 and magnetic force T0 produce make a concerted effort (T0, U0) with second coordinate information of the supply current of electric magnet (A0, B0) suitable.Under "on" position, through the conversion of the coordinate axes between the variant Vector Message, control of azimuth information with handle, be converted to the information of supply current amount, export corresponding solenoid to, make the identical of magnetic resultant direction that solenoid produces and current amplitude, the correspondence that is in proportion, the capsule endoscope of the carry magnet in the driving human body the intestines and stomach moves along the handle pushing direction.
Described capsule endoscope 50 comprises capsule housing 1 and is packaged in wherein light source 2, camera lens 3, antenna 4, battery 5, main control board 6 and Magnet 7, camera lens 3 is arranged at the one or both ends of battery 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on the camera lens 3, main control board 6 and battery 5 are electrically connected with each module respectively, described Magnet 7 is sheathed on the periphery of battery 5, produces with the magnetic field with outside hot-wire coil generation to interact, and changes capsule endoscope running orbit under one's belt.Wherein, described Magnet 7 is arranged on battery one end at capsule endoscope middle part, makes that the two ends counterweight of capsule endoscope is unequal, and axle center and the center of gravity of capsule endoscope do not coincide, and makes it can be kept upright to float in the gastric juice and take.By direction and the size of the external magnetic field that produces of energising solenoid, with the running orbit of control capsule endoscope in the human body the intestines and stomach, reach the purpose that control is taken.
Preferably, described capsule endoscope 50 is provided with two camera lenses 3 that are divided into its two ends, can absorb the wall situation of two side in the stomach by two camera lenses 3, and can change the operation attitude of capsule endoscope by the control rotation, optionally required coat of the stomach is taken.
The number of turn of solenoid is more big, and energising intensity is more big, and the electromagnetic field intensity that produces is more big, and is more big to the magnetic force of capsule endoscope, and is more high to the sensitivity of its running orbit control.In this utility model, the number of turn of described solenoid is between the 300-2000 circle.Described capsule endoscope is built in the magnetic field that the solenoid of energising produces, and perpendicular in the draw direction of solenoid.Like this, when capsule endoscope enters in the human stomach, it is free-running operation in gastric juice, in the time of in entering the magnetic field that solenoid produces, the magnetic line of force that solenoid produces parallels with the operation of capsule endoscope, makes it to produce graviational interaction to capsule endoscope and causes the change of its running orbit.
Handle orientations and application of force size by adversary's handle control system are controlled, characterize out first coordinate information of handle thrust at the coordinate axes of the handle control system of microprocessor, described first coordinate information is converted to second coordinate information of the current amplitude value that characterizes the electric magnet power supply by coordinate transferring, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to the big or small magnetic force of special angle again, and then reach by handle magnetic direction and the big or small purpose of controlling, utilize this technology that the running orbit of the capsule endoscope in the human body is controlled in real time and adjusted, to reach the intestines and stomach wall of taking particular orientation, obtain the more purpose of clear and accurate image, help to make a definite diagnosis quickly the accuracy and the degree of accuracy that have improved diagnosis greatly or detected.
Claims (4)
1. the control system of a capsule endoscope running orbit, it is characterized in that: comprise several solenoids, the electric magnet electric power system, microprocessor and handle control system, described handle control system is electrically connected with the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected with several solenoids, by hand-held driving handle control system, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid through microprocessor, export corresponding solenoid to, make the solenoid of energising produce identical with the handle thrust direction, the magnetic attraction of the correspondence that is in proportion is with the running orbit of capsule endoscope in the human body the intestines and stomach of control carry magnet.
2. the control system of capsule endoscope running orbit according to claim 1, it is characterized in that: described several solenoids are on same horizontal plane.
3. the control system of capsule endoscope running orbit according to claim 1 and 2, it is characterized in that: described solenoid has two at least, is electrically connected with the electric magnet electric power system respectively.
4. according to the control system of the capsule endoscope running orbit described in the claim 3, it is characterized in that: described solenoid is even number, is symmetrically distributed in twos.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220711021 CN203122345U (en) | 2012-12-20 | 2012-12-20 | Controlling system of running track of capsule endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220711021 CN203122345U (en) | 2012-12-20 | 2012-12-20 | Controlling system of running track of capsule endoscope |
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| Publication Number | Publication Date |
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| CN203122345U true CN203122345U (en) | 2013-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220711021 Expired - Lifetime CN203122345U (en) | 2012-12-20 | 2012-12-20 | Controlling system of running track of capsule endoscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
-
2012
- 2012-12-20 CN CN 201220711021 patent/CN203122345U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518120 6 buildings in the fourth industrial area of the new community in Dapeng street, Longgang District, Shenzhen, Guangdong. Patentee after: SHENZHEN JIFU MEDICAL TECHNOLOGY Co.,Ltd. Address before: 518120 6 buildings in the fourth industrial area of the new community in Dapeng street, Longgang District, Shenzhen, Guangdong. Patentee before: SHENZHEN JIFU TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130814 |