WO2022007963A1 - 一种磁控装置及磁控胶囊内窥镜*** - Google Patents

一种磁控装置及磁控胶囊内窥镜*** Download PDF

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Publication number
WO2022007963A1
WO2022007963A1 PCT/CN2021/105593 CN2021105593W WO2022007963A1 WO 2022007963 A1 WO2022007963 A1 WO 2022007963A1 CN 2021105593 W CN2021105593 W CN 2021105593W WO 2022007963 A1 WO2022007963 A1 WO 2022007963A1
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WO
WIPO (PCT)
Prior art keywords
motor
base
control device
switch
magnetic
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PCT/CN2021/105593
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English (en)
French (fr)
Inventor
韩超
张少邦
段晓东
Original Assignee
上海安翰医疗技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 上海安翰医疗技术有限公司 filed Critical 上海安翰医疗技术有限公司
Priority to EP21837968.3A priority Critical patent/EP4179952A1/en
Priority to JP2023501182A priority patent/JP2023532788A/ja
Priority to US18/015,530 priority patent/US20230255450A1/en
Priority to KR1020237004833A priority patent/KR20230062810A/ko
Publication of WO2022007963A1 publication Critical patent/WO2022007963A1/zh

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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
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • 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
    • 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
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery

Definitions

  • the present application relates to the technical field of capsule endoscope control systems, and in particular, to a magnetron control device and a magnetron control capsule endoscope system.
  • capsule endoscope for routine inspection of the human digestive tract is a relatively advanced diagnostic method in the market. Compared with the traditional insertion type electronic endoscope, swallowing the capsule endoscope will not cause the examiner's body and health. Psychological discomfort also reduces the possibility of cross-infection.
  • the magnetic control capsule endoscope system is a capsule endoscope system that can actively control the inspection field through the operation end.
  • the commonly used method is to place a magnetic piece outside the human body.
  • the built-in magnet of the magnetron capsule endoscope system is affected by the external changing magnetic field to drive the capsule endoscope in the human body to move, so as to realize the active adjustment of the field of view of the capsule endoscope.
  • the current magnetron device is relatively bulky, bulky, and occupies a large space.
  • the present application provides a magnetron device, which has the characteristics of compact structure and small volume.
  • the embodiment of the present application provides a magnetic control device for controlling a capsule endoscope, and the magnetic control device includes:
  • a mounting seat for hoisting the magnetic control device; a base, which is connected to the mounting seat;
  • the magnetic component includes a magnet, and the magnet is used to drive the capsule endoscope to rotate;
  • a first motor used for controlling the rotation of the magnetic component around a first axis, along the height direction of the magnetic control device, the first motor penetrates through the mounting seat and is mounted on the base;
  • a second motor for controlling the magnetic component to rotate around a second axis, the second motor being mounted on the base;
  • the first axis intersects the second axis.
  • the base includes an upper base and a lower base;
  • the upper base is located between the installation seat and the lower base, and the space between the installation seat and the lower base is the installation space.
  • the outer edge of the lower base extends beyond the outer edge of the upper base.
  • the first motor is installed on the upper base
  • the second motor is connected to the lower base, and is disposed between the installation base and the lower base. installation space.
  • the magnetron device further includes a mounting plate, the mounting plate is connected to the base;
  • At least part of the mounting plate extends to the mounting space, and the second motor and the base are connected through the mounting plate.
  • the magnetron device further includes a conductive slip ring, and the conductive slip ring includes an upper slip ring and a lower slip ring;
  • the upper slip ring is installed on the upper base for electrical connection with a power source, and the lower slip ring is installed on the lower base for electrical connection with the second motor.
  • the conductive slip ring is a PCB slip ring, and the thickness of the PCB slip ring is less than or equal to 10 mm.
  • the magnetic component further includes a housing, and the magnet is fixed in the housing;
  • the casing includes a left casing and a right casing, the left casing and the right casing are connected by a flange, and the magnet is fixed in the casing.
  • two ends of the lower base are provided with connecting plates, and along the first direction of the magnetron device, the two connecting plates face extending away from the upper base;
  • the casing is located between the two connecting plates and is rotatably connected with the two connecting plates, and can be rotated under the driving of the first motor and the second motor.
  • the magnetic control device further includes at least one rotation origin detection mechanism for judging whether the magnetic component is at the rotation origin;
  • the rotation origin detection mechanism includes a switch assembly electrically connected to the first motor and/or the second motor, and a switch fitting that cooperates with the switch assembly to control the on-off of the circuit.
  • the rotation origin detection mechanism is installed between the upper base and the lower base, and the switch assembly is installed on one of the upper base or the lower base , the switch fitting is installed on the other side of the upper base or the lower base, and the switch assembly and the switch fitting are controlled to start and stop the first motor through relative rotation.
  • the rotation origin detection mechanism is installed at the connection position between the lower base and the magnetic component, and the switch assembly is installed on one of the lower base or the magnetic component, The switch fitting is mounted on the lower base or the other one of the magnetic components, and the switch assembly and the switch fitting are rotated relative to each other to control the start and stop of the second motor.
  • the switch assembly is a photoelectric switch
  • the switch fitting is a code disc
  • a detection portion is provided on the code disc
  • the switch assembly is a micro switch group, and the switch mating member is a contact-contact mating portion;
  • the first motor and/or the second motor is a DC motor or a stepper motor.
  • the embodiment of the present application further provides a magnetic control capsule endoscope system, including the above-mentioned magnetic control device, and the magnetic control device is mounted on the magnetic control capsule endoscope system through the mounting seat.
  • the area covered by the projection of the mounting seat forms the installation space, and the second motor is located in the installation space.
  • the installation space is rationally utilized, and the first motor and the second motor are installed to make the structure more compact, small, and easy to move.
  • FIG. 1 is a schematic structural diagram of a magnetron device provided by the application in a specific embodiment
  • Fig. 2 is an enlarged view of part A in Fig. 1;
  • Fig. 3 is the full-section schematic diagram of Fig. 1;
  • Fig. 4 is an enlarged view of part B in Fig. 3;
  • Fig. 5 is the enlarged view of C part in Fig. 3;
  • FIG. 6 is a schematic diagram of a full cross-section in another direction of FIG. 1;
  • FIG. 7 is an enlarged view of part D in FIG. 6 .
  • the commonly used method to control the "capsule endoscope” is to place a magnet outside the human body, and by changing the orientation and posture of the magnet, the magnetic field around the magnet changes in an orderly manner.
  • the influence of the magnetic field drives the movement of the capsule endoscope, thereby realizing the change of the inspection field of the capsule endoscope.
  • the magnetic control device includes a support base, a vertical rotation motor, a horizontal rotation motor, a magnetic ball and a magnetic ball mounting bracket.
  • the support base is used to hoist the magnetic control device.
  • the vertical rotation motor and the horizontal rotation motor are usually installed on the left and right sides of the support base.
  • the magnetic ball is installed on the magnetic ball installation bracket
  • the magnetic ball installation bracket is installed under the support frame, and is connected with the support seat through the bearing rotation
  • the vertical rotation motor and the horizontal rotation motor control the rotation of the magnetic ball installation bracket to drive the magnetic ball to rotate
  • the magnetic field around the magnetic ball is caused to change in an orderly manner, thereby controlling the movement of the capsule endoscope in the human body.
  • the support base is used to fix the magnetic control device, and its volume is relatively large
  • the vertical rotation motor and the horizontal rotation motor are installed on both sides of the support base, and the transmission chain between the vertical rotation motor and/or the vertical rotation motor and the magnet is relatively small. It is long, which increases the overall volume of the magnetron device, and requires a large enough working space to place the magnetron device, because of its large size, it is not easy to move.
  • an embodiment of the present application provides a magnetic control capsule endoscope system, including a magnetic control device 1 .
  • the magnetic control capsule endoscope system is used to control the movement of the capsule endoscope taken into the human body, so as to comprehensively observe the gastrointestinal tract of the human body and make a diagnosis.
  • the magnetron device 1 includes a mounting seat 11 , a base 12 , a magnetic component 16 , a first motor 13 and a second motor 14 , wherein the mounting seat 11 is used for hoisting the magnetron device 1 , and the magnetron device 1 is carried by the mounting seat 11 For the bracket of the capsule endoscope system, the magnetron 1 is fixed on the bracket through the mounting seat 11 .
  • the bracket refers to the external equipment for installing the magnetic control device 1, which is usually installed on the ground, and can drive the magnetic control device 1 to move forward and backward, up and down, and left and right, so as to move to a position close to the patient, which is convenient for detection;
  • the base 12 is fixedly connected Below the mounting base 11 , the magnetic component 16 includes a magnet 161 , the magnet 161 is used to drive the capsule endoscope to rotate, and the first motor 13 is used to control the rotation of the magnetic component 16 around the first axis L1 along the first axis of the magnetron 1 .
  • the first motor 13 penetrates the mounting seat 11 and is installed on the base 12; the second motor 14 is used to control the rotation of the magnetic component 16 around the second axis L2, the second motor 14 is installed on the base 12, the first axis L1 is connected to the second axis L2.
  • the two axes L2 intersect.
  • the first direction of the magnetron device 1 may be set as the height direction Z of the magnetron device 1 (as shown in FIG. 1 ). Moreover, in the following embodiments, the first direction is the height direction Z as an example for description.
  • the mounting seat 11 is arranged on the magnetic control device 1 , the base 12 is fixed under the mounting seat 11 , the first motor 13 is installed on the base 12 through the mounting seat 11 , and the installation space 111 is used reasonably to install the first motor 13 .
  • the first motor 13 and the second motor 14 make the structure more compact and small, and facilitate the movement of the magnetic control device 1 .
  • the first motor 13 and the second motor 14 can adopt a DC motor or a stepper motor, and the present application replaces the servo motor with a DC motor or a stepper motor, so that the magnetic control device 1 does not need an encoder and/or a reducer, and The first motor 13 or/and the second motor 14 are driven by synchronous pulleys, which reduces the torque requirement of the motor, thereby reducing the overall volume of the magnetic control device 1 .
  • other motors capable of driving the magnetic component 16 to rotate with high precision and small volume can also be used.
  • the base 12 includes an upper base 121 and a lower base 122 , the first motor 13 is mounted on the upper base 121 , and the second motor 14 is connected to On the lower base 122; along the height direction Z of the magnetic control device 1, the upper base 121 is located between the mounting seat 11 and the lower base 122; along the height direction Z of the magnetic control device 1, the mounting seat 11 and the lower base 122 The space between is the installation space 111 , and the outer edge of the lower base 122 extends beyond the outer edge of the upper base 121 .
  • the outer edge of the lower base 122 extends beyond the outer edge of the upper base 121 , so that there is an extra installation space 111 between the mounting base 11 and the lower base 122 except for the upper base 121 .
  • the second motor 14 can be arranged in the installation space 111 and installed on the lower base 122, thereby making the overall volume more compact and effectively improving the space utilization of the magnetron 1, wherein the base 12, the first After the motor 13 and the second motor 14 are installed, they do not exceed the projection coverage of the mounting base 11 , so that the magnetron device 1 has the characteristics of compact structure and small volume.
  • the second axis L2 on which the second motor 14 controls the rotation of the magnetic member 16 is perpendicular to the first axis L1 on which the first motor 13 controls the rotation of the magnetic member 16 .
  • the rotation axis of the first motor 13 is in the vertical direction
  • the rotation axis of the second motor 14 is in the horizontal direction.
  • the magnetron device 1 further includes a mounting plate 15 , and the mounting plate 15 is connected to the base 12 ; along the height direction Z of the magnetron device 1 , the mounting plate 15 Extending at least partially to the installation space 111 , the second motor 14 is connected to the base 12 through the installation plate 15 .
  • the second motor 14 is connected to the lower base 122 through the mounting plate 15 , which simplifies the overall structure of the lower base 122 .
  • a conductive slip ring 20 is installed between the upper base 121 and the lower base 122 , the conductive slip ring 20 is used to conduct electricity to the second motor 14 , and the conductive slip ring 20 includes the upper slip ring 201 And the sliding ring 202, the upper sliding ring 201 and the sliding ring 202 can rotate relative to each other while ensuring the electrical connection between the two.
  • the upper slip ring 201 is installed on the upper base 121
  • the lower slip ring 202 is installed on the lower base 122
  • the upper slip ring 201 is electrically connected to a power supply (not shown)
  • the lower slip ring 202 can be electrically connected to the second motor 14.
  • the upper slip ring 201 can conduct electricity to the lower slip ring 202, so as to prevent the second motor 14 from using a long wire to connect with the power supply, and the wire rotates and wraps with the lower base 122.
  • the above-mentioned power source can be the power source of the magnetron device 1 itself (including the power source arranged on the magnetron device 1) in this application, or it can be an external power source on the equipment used for assembling the magnetron device 1, The magnetron device 1 can also be connected to the commercial power, etc., which will not be described here.
  • the conductive slip ring 20 may adopt a PCB board (Printed Circuit Board, printed circuit board) type slip ring, and the thickness of the PCB board type slip ring is less than or equal to 10 mm. Compared with other types of conductive slip rings, the thickness of the PCB slip ring is smaller, and the structure can be reduced in the height direction Z, which is beneficial to the overall size of the compact magnetron device 1 .
  • PCB board printed Circuit Board, printed circuit board
  • the magnetic component 16 further includes a casing 162, and the magnet 161 is fixed in the casing 162; wherein, the casing 162 includes a left casing 162a and a right casing 162b, and the left casing The body 162a is connected to the right housing 162b by a flange 162c. In this embodiment, the left casing 162a and the right casing 162b are fixedly connected through the flange 162c.
  • the specific operation is to first fix the left housing 162a to a flange (the flange can be integrally formed with the left housing 162a), and then fix the right housing 162b to another flange (the flange can be formed integrally with the left housing 162a). It is integrally formed with the right housing 162b), then place a flange gasket between the two flanges, and then tighten the two flanges with bolts to make them tightly combined, so that the left housing 162a and the right housing are 162b fixed connection.
  • the fixed connection of the left casing 162a and the right casing 162b is more convenient and firm by tightening the plurality of screws in sequence.
  • the flange 162c is more convenient to connect, install and disassemble, and the connection strength between the left casing 162a and the right casing 162b is high, and the sealing performance in the casing 162 is good.
  • two ends of the lower base 122 are provided with connecting plates 122 a , and along the height direction Z of the magnetron 1 , two The connecting plate 122a extends away from the upper base 121; the housing 162 is located between the two connecting plates 122a and is rotatably connected with the two connecting plates 122a, and driven by the first motor 13 and the second motor 14, The housing 162 is rotatable. In this embodiment, the housing 162 drives the internal magnet 161 to rotate, so that the magnetic field around the magnet 161 changes.
  • the capsule endoscope located in the human body has a built-in small magnet, and the small magnet is affected by the external changing magnetic field to drive the capsule endoscope and the connecting plate 122a extends away from the upper base 121, and the housing 162 is connected to the connecting plate 122a, so that the magnet 161 is far away from the first motor 13 and the second
  • the motor 14 reduces the influence of the first motor 13 and the second motor 14 by the interference of the magnetic field.
  • the first motor 13 drives the lower base 122 to rotate through its rotating shaft, and the lower base 122 drives the casing 162 to rotate through the connecting plate 122a, so that the casing 162 drives the magnet 161 to rotate with the first
  • the rotating shaft of the motor 13 rotates, so that the magnetic field in which the capsule endoscope is located changes, so as to realize the change of the inspection field of the capsule endoscope
  • the second motor 14 drives the transmission assembly to rotate through its rotating shaft, and the transmission The assembly is connected to the casing 162 so that the casing 162 drives the magnet 161 to rotate with the rotating shaft of the second motor 14 , so that the magnetic field in which the capsule endoscope is located changes, thereby realizing the change of the inspection field of the capsule endoscope.
  • the transmission assembly includes a first timing pulley 142 , a timing belt 143 and a second timing pulley 144 , and the first timing pulley 142 is connected to the second timing pulley through the second coupling 141
  • the rotating shaft of the motor 14 is connected, the second synchronous pulley 144 is fixedly connected with the left casing 162a (or the right casing 162b), and the first synchronous pulley 142 and the second synchronous pulley 144 rotate synchronously through the synchronous belt 143 to drive the casing
  • the body 162 rotates, thereby realizing the rotation of the magnet 161 .
  • the second direction of the magnetron device 1 may be set as the longitudinal direction Y of the magnetron device 1 (as shown in FIG. 1 ).
  • the second direction is taken as the longitudinal direction Y as an example for description.
  • the left casing 162a and the right casing 162b can also be connected by bolts.
  • other connection methods can also be used for fixing, and it is sufficient that the left casing 162a and the right casing 162b can be fixedly connected.
  • the rotating shaft of the first motor 13 is connected to one end of the connecting shaft 132 through the first coupling 131 , and the connection is
  • the other end of the shaft 132 is mounted on the main shaft 133, and along the height direction Z of the magnetic control device 1, the main shaft 133 extends to connect with the lower base 122, so as to realize the rotation of the lower base 122 controlled by the first motor 13, and the casing 162 is connected by
  • the plate 122a is installed on the lower base 122, so that the first motor 13 drives the housing 162 to rotate.
  • the rotation of the first motor 13 transmits torque through the first coupling 131 , the connecting shaft 132 and the main shaft 133 , so as to reduce the excessive load on the first motor 13 and protect the first motor 13 .
  • the second motor 14 is installed on the lower base 122 , and the rotating shaft of the second motor 14 drives the casing 162 to rotate through the transmission assembly, wherein the first motor 13 controls the rotation direction of the casing 162 and the first The directions in which the two motors 14 control the housing 162 to rotate are perpendicular to each other.
  • the main shaft 133 is covered with a bearing 134 and a lock nut 135.
  • the main shaft 133 penetrates through the upper base 121 and is rotatably connected to the upper base 121 through the bearing 134, and two lock nuts are used. 135 is locked to prevent the main shaft 133 from moving when the magnetic control device 1 is upside down, and the outer side of the locking nut 135 is also sleeved with a shaft sleeve 136 to prevent the main shaft 133 from being displaced due to vibration.
  • the magnetic control device 1 further includes at least one rotation origin detection mechanism for judging whether the magnetic component 16 is in the The rotation origin (ie, the rotation origin of the magnet 161).
  • the rotation origin detection mechanism includes at least a switch assembly electrically connected to the first motor 13 and/or the second motor 14, and a switch fitting that cooperates with the switch assembly to control the on-off of the circuit.
  • the rotation origin can be the rotation origin of the magnetic component 16 around the first axis L1 (also called the first zero point), or it can be the rotation origin of the magnetic component 16 around the L2 axis (also called the first zero point) second zero).
  • L1 also called the first zero point
  • L2 axis also called the first zero point
  • other postures of the magnetic component 16 can also be used as the zero point position, for example, the S pole of the magnet 161 is upward, the N pole is downward, etc., as long as it is convenient to control the capsule endoscope.
  • the rotation origin detection mechanism is installed between the upper base 121 and the lower base 122 , the switch assembly is installed on one of the upper base 121 or the lower base 122, the switch fitting is installed on the other side of the upper base 121 or the lower base 122, and the switch assembly and the switch fitting are controlled by relative rotation
  • the first motor 13 starts and stops.
  • the rotation origin detection mechanism is installed at the connection position between the lower base 122 and the magnetic component
  • the switch assembly is installed on one of the lower base 122 or the magnetic component 16
  • the switch fitting is installed on the lower base 122 or the other one of the magnetic components 16 the switch assembly and the switch mating part are controlled to start and stop the second motor 14 through relative rotation.
  • the switch component is a photoelectric switch 18, the switch fitting is a code disc 19, and a detection part is provided on the code disc 19; with the relative rotation between the photoelectric switch 18 and the code disc 19, when the photoelectric switch When the detection part 18 is detected, the control circuit of the photoelectric switch 18 is turned off, and the magnetic member 16 stops at the rotation origin.
  • the magnetic control device 1 further includes a photoelectric switch 18 and a code disc 19 ; the code disc 19 can rotate relative to the photoelectric switch 18 as the magnet 161 rotates. After sensing the corresponding detection part, it is determined that the magnet 161 has reached the rotation origin.
  • the photoelectric switch 18 is connected to the first motor 13 or the second motor 14 for detecting whether the magnet 161 is at the rotation origin, and when the magnet 161 rotates to the rotation origin, the photoelectric switch 18 controls the first motor 13 or the second motor 14 stops working.
  • the code disc 19 can rotate with the magnet 161, and the photoelectric switch 18 detects the rotational position of the magnet 161 by detecting the code disc 19.
  • the photoelectric switch 18 can control the first motor 13 and/or The second motor 14 stops working to control the magnet 161 to stop rotating, which is convenient to find the rotation origin of the magnet 161 to determine the initial position of the capsule endoscope, and at the same time to determine that the magnet 161 rotates at least once, so as to drive the human body through the change of the magnetic field of the magnet 161
  • the capsule endoscope rotates for at least one week, so that the capsule endoscope can observe the internal situation of the human stomach more comprehensively.
  • the rotation of the magnetic component 16 may also be controlled according to the actual rotation circumference of the magnet 161 (ie, the number of times the magnet 161 passes the origin of rotation is detected).
  • a threshold value for the number of times the photoelectric switch 18 detects that the magnet 161 passes the rotation origin can be set, and when the number of times the magnet 161 passes the rotation origin exceeds the threshold, the photoelectric switch 18 can control the first motor 13 and/or the second motor 14 stop working.
  • the threshold value can be set to 150, that is, the photoelectric switch 18 detects that the magnet 161 passes the rotation origin 150 times.
  • the code wheel 19 includes a first code wheel 191
  • the photoelectric switch 18 includes a first photoelectric switch 181
  • the detection unit includes a first code wheel 191 disposed on the first code wheel 191 .
  • a detection part; the first code disc 191 is installed on the lower base 122, the first photoelectric switch 181 is installed on the upper base 121, the first photoelectric switch 181 is provided with a first groove 181a, and the first photoelectric code disc 191 is provided with a
  • the first detection part when the first detection part of the first code wheel 191 is located in the first groove 181a, the first detection part can cooperate with the first photoelectric switch 181 to control the start and stop of the circuit.
  • the initial rotational position of the first detection part (when not powered on) is located in the first groove 181a, and when the first photoelectric switch 181 detects that the first detection part is located in the groove of the first groove 181a, the magnet 161 is located in the first groove 181a.
  • the first code disc 191 can drive the first detection part to rotate with the lower base 122.
  • the first photoelectric switch 181 detects that the first code disc 191 is located in the first groove 181a again, the magnet 161 returns to the first zero point.
  • the first photoelectric switch 181 controls the first motor 13 to stop working. Wherein, every time the first code wheel 191 rotates one turn, the first detection part passes through the first groove 181a once.
  • the first detection part is a light blocking plate
  • the light blocking plate is arranged on the outer edge of the first code wheel 191 and can rotate with the rotation of the magnet 161 .
  • the upper base 121 is fixed on the mounting base 11 and does not rotate.
  • the first motor 13 controls the rotation of the lower base 122 to drive the first code disc 191 and the magnet 161 to rotate.
  • the first photoelectric switch 181 passes the detection
  • the light blocking plate of the first code wheel 191 is used to detect the rotation position of the magnet 161. When the light blocking plate of the first code wheel 191 rotates into the first groove 181a again, the magnet 161 returns to the first zero point, and the light blocking plate is opposite to the first zero point.
  • the light beam inside the groove 181a is blocked, so that the first photoelectric switch 181 detects the first code disc 191 and automatically turns off.
  • the first photoelectric switch 181 is electrically connected to the power supply of the first motor 13, thereby disconnecting the first motor 13. the power supply to control the first motor 13 to stop working.
  • the first detection portion may also have other structures, as long as the magnet 161 can be controlled to stop at the rotation origin.
  • the first detection part is an annular thin-walled light blocking plate arranged on the outer edge of the first code wheel 191, and an opening or a transparent part is provided on the light blocking plate.
  • the first photoelectric switch 18 can stop the magnet 161 at the rotation origin by controlling the first motor 13 .
  • the first detection part that can cooperate with different types of photoelectric switches (for example, through-beam photoelectric switches, slot-type photoelectric switches, etc.) can be selected. The part 16 only needs to stop exactly at the rotation origin.
  • the housing 162 is rotatably mounted on the lower support 122 through the shaft portion 162d
  • the code disc 19 further includes a second code disc 192
  • the photoelectric switch 18 further includes The second photoelectric switch 182;
  • the second code disc 192 is mounted on the housing 162 or the shaft portion 162d of the housing 162
  • the second photoelectric switch 182 is mounted on the connecting plate 122a
  • the second photoelectric switch 182 is provided with a second groove 182a
  • the detection part includes a second detection part disposed on the second code wheel 192 , when the second detection part of the second code wheel 192 is located in the second groove 182a, the second detection part can cooperate with the second photoelectric switch 182 to control the circuit start-stop.
  • the second code disc 192 drives the second detection portion to rotate with the housing 162, and the second photoelectric switch 182 detects the second detection again.
  • the magnet 161 returns to the rotation origin (second zero point), and the second photoelectric switch 182 controls the second motor 14 to stop working.
  • the second detection part passes through the second groove 182a once.
  • the second detection part may be an opening 192a, and the opening 192a is provided at the edge of the second code wheel 192 and can rotate with the rotation of the magnet 161 .
  • the casing 162 is rotatably connected to the connecting plate 122a, the second motor 14 controls the casing 162 to rotate to drive the second code disc 192 and the magnet 161 to rotate, and the second photoelectric switch 182 detects the movement of the second code disc 192 by detecting the The opening 192a is used to detect the rotation position of the magnet 161.
  • the magnet 161 returns to the rotation origin (second zero point), and the opening 192a makes the second groove 182a
  • the light beams inside are connected, so that the second photoelectric switch 182 detects the opening 192a of the second code disc 192 and automatically closes it.
  • the second photoelectric switch 182 is electrically connected to the power supply of the second motor 14, thereby disconnecting the second motor 14
  • the power supply controls the second motor 14 to stop working.
  • the second detection part can also be of other structures, as long as the magnet 161 can be controlled to stop at the second zero point.
  • the magnet 161 can be controlled to stop at the second zero point.
  • the switch assembly is a micro switch group, and the switch matching part is a contact matching part; with the relative rotation between the micro switch group and the contact matching part, when the micro switch group detects the contact matching part, The micro-switch group control circuit is disconnected, and the magnetic component 16 stops at the rotation origin.
  • the micro switch group is electrically connected to the first motor 13 and/or the second motor 14, and includes a micro switch and a contact part.
  • the micro switch is provided with a contact matching part that can cooperate with the contact part, and the contact part is connected to the contact part through the contact part The contact and separation of the mating part control the on-off of the circuit.
  • the micro switch group is arranged at the rotation origin position of the magnetic control device 1, and one of the contact part and the micro switch is arranged to be able to rotate with the rotation of the magnet 161, and the other is fixedly arranged, and the two can be mutually Cooperate with the on-off of the control circuit, so that the magnetic control device 1 can stop at the rotation origin position.
  • the number of micro switch groups is at least two, and the magnet 161 is controlled to stop at the first zero point and the magnet 161 is controlled to stop at the second zero point.
  • the micro switch group (not shown) is arranged on the upper base 121, the contact member (not shown) is an action reed, and the contact matching portion (not shown) is arranged on the lower base 122 is facing the convex point of the micro switch group, and the convex point rotates with the lower base 122.
  • the micro switch controls the first motor 13 to turn off, and the magnet 161 stops at the first zero. point.
  • the micro switch group is also arranged on the lower base 122, and the bump is arranged on the shaft portion 162d of the housing 162 of the magnetic component 16 and rotates with the housing 162.
  • the bump touches the action reed, it moves slightly.
  • the switch controls the second motor 14 to turn off, and the magnet 161 stops at the second zero point, which is convenient for the operator to use.

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Abstract

一种磁控装置（1）及磁控胶囊内窥镜***。磁控装置（1）包括安装座（11）、基座（12）、磁部件（16）、第一电机（13）和第二电机（14），其中，安装座（11）用于吊装磁控装置（1），基座（12）与安装座（11）连接，磁部件（16）包括磁体（161），磁体（161）用于带动胶囊内窥镜转动，第一电机（13）用于驱动磁部件（16）绕第一轴线（L1）转动，沿磁控装置（1）的第一方向，第一电机（13）贯穿安装座（11）并安装于基座（12）；第二电机（14）用于驱动磁部件（16）绕第二轴线（L2）转动，第二电机（14）安装于基座（12），第一轴线（L1）与第二轴线（L2）相交。通过合理利用磁控装置（1）的安装空间，使结构更紧凑，小巧，且方便移动。

Description

一种磁控装置及磁控胶囊内窥镜***
本申请要求于2020年07月10日提交中国专利局、申请号为202010664939.3、发明名称为“一种磁控装置及磁控胶囊内窥镜***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及胶囊内窥镜控制***技术领域，尤其涉及一种磁控装置及磁控胶囊内窥镜***。
背景技术
目前，使用胶囊内窥镜对人体消化道进行常规检查，是市场上较为先进的一种诊查手段，相较于***式传统电子内镜，吞服胶囊内窥镜不会引起检查者身体和心理上的不适，也减小交叉感染的可能性。
磁控胶囊内窥镜***，是一种通过操作端可主动控制检查视野的胶囊内窥镜***。常用的手段是在人体外放置一个磁性件，磁控胶囊内窥镜***内置的磁体受到外界变化磁场的影响来带动人体内的胶囊内窥镜运动，从而实现胶囊内窥镜检查视野的主动调节，但目前的磁控装置体积较大，比较笨重，占用的空间大。
申请内容
本申请提供了一种磁控装置，该磁控装置具有结构精简、体积小的特点。
本申请实施例提供一种磁控装置，用于控制胶囊内窥镜，所述磁控装置包括：
安装座，用于吊装所述磁控装置；基座，所述基座与所述安装座连接；
磁部件，所述磁部件包括磁体，所述磁体用于带动所述胶囊内窥镜转动；
第一电机，用于控制所述磁部件绕第一轴线转动，沿所述磁控装置的高度方向，所述第一电机贯穿所述安装座并安装于所述基座；
第二电机，用于控制所述磁部件绕第二轴线转动，所述第二电机安装于所述基座；
所述第一轴线与所述第二轴线相交。
在一种可能的设计中，所述基座包括上基座和下基座；
沿所述磁控装置的第一方向，所述上基座位于所述安装座与所述下基座之间，所述安装座与所述下基座之间的空间为所述安装空间。
在一种可能的设计中，所述下基座的外边缘超出所述上基座的外边缘。
在一种可能的设计中，所述第一电机安装于所述上基座，所述第二电机连接于所述下基座，设置于所述安装座与所述下基座之间的所述安装空间。
在一种可能的设计中，所述磁控装置还包括安装板，所述安装板连接于所述基座；
所述安装板的至少部分延伸至所述安装空间，所述第二电机与所述基座通过安装 板连接。
在一种可能的设计中，所述磁控装置还包括导电滑环，所述导电滑环包括上滑环与下滑环；
所述上滑环安装于所述上基座，用于与电源电连接，所述下滑环安装于所述下基座，用于与所述第二电机电连接。
在一种可能的设计中，所述导电滑环采用PCB滑环，且所述PCB滑环的厚度小于或等于10mm。
在一种可能的设计中，所述磁部件还包括壳体，所述磁体固定于所述壳体内；
其中，所述壳体包括左壳体与右壳体，所述左壳体与所述右壳体通过法兰连接，所述磁体固定于所述壳体内。
在一种可能的设计中，沿所述磁控装置的第二方向，所述下基座的两端设有连接板，沿所述磁控装置的第一方向，两个所述连接板朝远离所述上基座的方向延伸；
所述壳***于两个所述连接板之间，并与两个所述连接板转动连接，且在所述第一电机和所述第二电机的驱动下，所述壳体能够转动。
在一种可能的设计中，所述磁控装置还包括至少一个转动原点检测机构，用于判断所述磁部件是否处于转动原点；
所述转动原点检测机构包括与所述第一电机和/或所述第二电机电连接的开关组件，以及与所述开关组件配合而控制电路通断的开关配合件。
在一种可能的设计中，所述转动原点检测机构安装于所述上基座与所述下基座之间，所述开关组件安装于所述上基座或所述下基座中的一方，所述开关配合件安装于所述上基座或所述下基座中的另一方，所述开关组件与所述开关配合件之间通过相对转动而控制所述第一电机启停。在一种可能的设计中，所述转动原点检测机构安装于所述下基座与所述磁部件连接位置处，所述开关组件安装于所述下基座或所述磁部件中的一方，所述开关配合件安装于所述下基座或所述磁部件中的另一方，所述开关组件与所述开关配合件之间通过相对转动而控制所述第二电机启停。
在一种可能的设计中，所述开关组件为光电开关，所述开关配合件为码盘，所述码盘上设有检测部；
随着所述光电开关与所述码盘之间的相对转动，当所述光电开关检测到所述检测部时，所述光电开关控制电路断开，所述磁部件停止在转动原点。
在一种可能的设计中，所述开关组件为微动开关组，所述开关配合件为接触接触配合部；
随着所述微动开关组与所述接触配合部之间的相对转动，当所述微动开关检测到所述接触配合部时，所述微动开关组控制电路断开，所述磁部件停止在转动原点。
在一种可能的设计中，所述第一电机和/或所述第二电机采用直流电机或步进电机。
本申请实施例还提供了一种磁控胶囊内窥镜***，包括上述所述的磁控装置，所述磁控装置通过所述安装座搭载于所述磁控胶囊内窥镜***。
本申请提供的技术方案可以达到以下有益效果：
安装座的投影覆盖的区域形成安装空间，第二电机位于安装空间，合理利用安装 空间，安装第一电机与第二电机，使结构更紧凑、小巧，且方便移动。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。
附图说明
图1为本申请所提供磁控装置在一种具体实施例中的结构示意图；
图2为图1中A部放大图；
图3为图1的全剖示意图；
图4为图3中B部放大图；
图5为图3中C部放大图；
图6为图1的另一方向的全剖示意图；
图7为图6中D部放大图。
附图标记：
1-磁控装置；
11-安装座；
111-安装空间；
12-基座；
121-上基座；
122-下基座；
122a-连接板；
13-第一电机；
131-第一联轴器；
132-连接轴；
133-主轴；
134-轴承；
135-紧锁螺母；
136-轴套；
14-第二电机；
141-第二联轴器；
142-第一同步带轮；
143-同步带；
144-第二同步带轮；
15-安装板；
16-磁部件；
161-磁体；
162-壳体；
162a-左壳体；
162b-右壳体；
163c-法兰；
163d-轴部；
18-光电开关；
181-第一光电开关；
181a-第一凹槽；
182-第二光电开关；
182a-第二凹槽
19-码盘；
191-第一码盘；
192-第二码盘；
192a-开口；
20-导电滑环；
201-上滑环；
202-下滑环。
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
具体实施方式
为了更好的理解本申请的技术方案，下面结合附图对本申请实施例进行详细描述。
应当明确，所描述的实施例仅仅是本申请一部分实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
在一种具体实施例中，下面通过具体的实施例并结合附图对本申请做进一步的详细描述。
目前，常用的控制“胶囊内窥镜”的手段，是在人体外放置一个磁体，通过改变磁体的方位和姿态引起磁体周围磁场有序变化，磁控胶囊内窥镜内置的磁体受到外界变化的磁场的影响来带动胶囊内窥镜运动，从而实现胶囊内窥镜检查视野的变化，但安装磁体的磁控装置体积较大，比较笨重。
如，磁控装置包括支撑座、垂直旋转电机、水平旋转电机、磁球和磁球安装支架，支撑座用于吊装磁控装置，垂直旋转电机和水平旋转电机通常安装于支撑座的左右两侧，磁球安装于磁球安装支架，磁球安装支架安装于支撑架的下方，且通过轴承与支撑座转动连接，垂直旋转电机和水平旋转电机控制磁球安装支架转动，以带动磁球转动，引起磁球周围磁场有序变化，进而控制人体内胶囊内窥镜的运动。其中，支撑座用于固定磁控装置，其体积较大，垂直旋转电机和水平旋转电机安装于支撑座的两侧， 并且垂直旋转电机和/或竖直旋转电机与磁体之间的传动链较长，加大了磁控装置整体的体积，需要足够大的工作空间放置磁控装置，因其体积较大，也不便于移动。
如图1至图7所示，为解决上述技术问题，本申请实施例提供一种磁控胶囊内窥镜***，包括磁控装置1。该磁控胶囊内窥镜***用于控制服入人体内的胶囊内窥镜进行运动，以全面观察人体的胃肠道并做出诊断。该磁控装置1包括安装座11、基座12、磁部件16、第一电机13和第二电机14，其中，安装座11用于吊装磁控装置1，磁控装置1通过安装座11搭载于胶囊内窥镜***的支架，磁控装置1通过安装座11固定于支架上。支架指的是安装磁控装置1的外部设备，通常安装于地面，能够带动磁控装置1进行前后、上下、左右的移动，以对应移动到靠近患者的位置，便于检测；基座12固定连接于安装座11的下方，磁部件16包括磁体161，磁体161用于带动胶囊内窥镜转动，第一电机13用于控制磁部件16绕第一轴线L1转动，沿磁控装置1的第一方向，第一电机13贯穿安装座11并安装于基座12；第二电机14用于控制磁部件16绕第二轴线L2转动，第二电机14安装于基座12，第一轴线L1与第二轴线L2相交。
其中，磁控装置1第一方向可以设置为磁控装置1的高度方向Z(如图1所示)。且以下实施例中均以第一方向为高度方向Z为例进行阐述。
本申请实施例中，安装座11设置于磁控装置1上，基座12固定于安装座11的下方，第一电机13贯穿安装座11安装于基座12，合理利用安装空间111，安装第一电机13与第二电机14，使结构更紧凑，小巧，方便磁控装置1移动。
其中，第一电机13与第二电机14可以采用直流电机或步进电机，本申请通过直流电机或步进电机代替伺服电机，使磁控装置1不需要编码器和/或设置减速器，并且第一电机13或/和第二电机14采用同步带轮传动，对电机的扭矩要求减小，从而减小了磁控装置1整体的体积。当然，也可以采用其他能够驱动磁部件16高精度转动且体积较小的电机。
如图1、图3和图6所示，在一种可能的设计中，基座12包括上基座121和下基座122，第一电机13安装于上基座121，第二电机14连接于下基座122；沿磁控装置1的高度方向Z，上基座121位于安装座11与下基座122之间；沿磁控装置1的高度方向Z，安装座11与下基座122之间的空间为安装空间111，且下基座122的外边缘超出上基座121的外边缘。
在本实施例中，下基座122的外边缘超出上基座121的外边缘，以使安装座11与下基座122之间除上基座121外，具有多余的安装空间111。进一步的，可以将第二电机14设置于安装空间111，并安装在下基座122上，从而使得整体体积更加紧凑，有效改善了磁控装置1的空间利用率，其中，基座12、第一电机13和第二电机14安装后均未超出安装座11的投影覆盖的范围，以使磁控装置1具有结构紧凑，体积小的特点。且更加具体地，第二电机14控制磁部件16旋转的第二轴线L2垂直于第一电机13控制磁部件16旋转的第一轴线L1。此时，该第一电机13的转轴沿竖直方向，第二电机14的转轴沿水平方向。本实施例中第一电机13和第二电机14的安装方式相比于现有技术中第一电机13与第二电机14均竖直安装基座12上，节省了大量安装空间，从而能够进一步减小磁控装置1的体积111。
如图1和图6所示，在一种可能的设计中，磁控装置1还包括安装板15，安装板15连接于基座12；沿磁控装置1的高度方向Z，安装板15的至少部分延伸至安装空间111，第二电机14与基座12通过安装板15连接。第二电机14通过安装板15与下基座122连接，简化了下基座122的整体结构。
如图3所示，更进一步地，上基座121与下基座122之间安装有导电滑环20，导电滑环20用于给第二电机14导电，导电滑环20包括上滑环201和下滑环202，上滑环201与下滑环202能够在相对转动的同时确保两者之间的电连接。其中，上滑环201安装于上基座121，下滑环202安装于下基座122，上滑环201与电源(未图示)电连接，下滑环202可以与第二电机14电连接，在工作状态时，上滑环201能对下滑环202导电，避免第二电机14使用长导线与电源连接，导线随下基座122转动缠绕。需要说明的是，上述的电源可以是本申请中磁控装置1自身的电源(包括设置于磁控装置1上的电源)，也可以是用于装配磁控装置1的设备上的外接电源，还可以将磁控装置1接入市电等，在此不再展开描述。
其中，导电滑环20可以采用PCB板(Printed Circuit Board，印制电路板)式滑环，且PCB板式滑环的厚度小于或等于10mm。与其他类型导电滑环相比，PCB板式滑环的厚度更小，能够在高度方向Z减小结构，有利于紧凑磁控装置1的整体尺寸。
如图3所示，在一种可能的设计中，磁部件16还包括壳体162，磁体161固定于壳体162内；其中，壳体162包括左壳体162a与右壳体162b，左壳体162a与右壳体162b通过法兰162c连接。本实施例中，左壳体162a与右壳体162b通过法兰162c固定连接。具体操作为，先将左壳体162a固定在一法兰盘(该法兰盘可以与左壳体162a一体形成)，再将右壳体162b固定在另一法兰盘(该法兰盘可以与右壳体162b一体形成)上，然后在两个法兰盘之间放置法兰垫，再用螺栓将两个法兰盘拉紧使其紧密结合，以使左壳体162a和右壳体162b固定连接。相比于在左壳体162a与右壳体162b的周圈边缘处设置多个螺纹孔，通过多个螺钉依次拧紧，使左壳体162a与右壳体162b固定连接更方便且牢固。并且，本申请实施例不需在壳体162上打螺纹孔，保证壳体162内部的密封性，且左壳体162a与右壳体162b螺纹连接时至少需要4个连接位置，安装和拆卸较繁琐，相比之下法兰162c连接安装拆卸更方便，且左壳体162a与右壳体162b的连接强度高，壳体162内的密封性好。
如图3所示，在一种可能的设计中，沿磁控装置1的第二方向Y，下基座122的两端设有连接板122a，沿磁控装置1的高度方向Z，两个连接板122a朝远离上基座121的方向延伸；壳体162位于两个连接板122a之间，并与两个连接板122a转动连接，且在第一电机13和第二电机14的驱动下，壳体162能够转动。本实施例中，壳体162带动内部的磁体161转动，使磁体161周围的磁场变化，位于人体内的胶囊内窥镜内置小磁体，该小磁体受到外界变化的磁场的影响来带动胶囊内窥镜运动，从而实现胶囊内窥镜检查视野的变化；并且，连接板122a朝远离上基座121的方向延伸，壳体162连接于连接板122a，从而使磁体161远离第一电机13和第二电机14，减少第一电机13和第二电机14受磁场干涉的影响。
具体地，驱动第一电机13工作时，第一电机13通过其转轴带动下基座122转动，下基座122通过连接板122a带动壳体162转动，以使壳体162带动磁体161随第一 电机13的转轴转动，使得胶囊内窥镜所处的磁场发生变化，从而实现胶囊内窥镜检查视野的变化；驱动第二电机14工作时，第二电机14通过其转轴带动传动组件转动，传动组件与壳体162连接，以使壳体162带动磁体161随第二电机14的转轴转动，使得胶囊内窥镜所处的磁场发生变化，从而实现胶囊内窥镜检查视野的变化。
更具体地，如图6和图7所示，传动组件包括第一同步带轮142、同步带143和第二同步带轮144，第一同步带轮142通过第二联轴器141与第二电机14的转轴连接，第二同步带轮144与左壳体162a(或右壳体162b)固定连接，第一同步带轮142与第二同步带轮144通过同步带143同步转动，以带动壳体162转动，进而实现磁体161转动。
其中，磁控装置1第二方向可以设置为磁控装置1的长度方向Y(如图1所示)。且以下实施例中均以第二方向为长度方向Y为例进行阐述。
在另一种可能的设计中，左壳体162a与右壳体162b也可以通过螺栓连接。当然，还可以通过其他连接方式进行固定，能够实现左壳体162a与右壳体162b固定连接即可。
如图1、图3和图4所示，进一步地，上基座121与下基座122之间具有间隔，第一电机13的转轴通过第一联轴器131与连接轴132一端连接，连接轴132另一端装卡于主轴133上，沿磁控装置1的高度方向Z，主轴133延伸至与下基座122连接，以实现第一电机13控制下基座122转动，壳体162通过连接板122a安装于下基座122，从而实现第一电机13带动壳体162转动。第一电机13的转动通过第一联轴器131、连接轴132与主轴133连接传递力矩，以减小第一电机13承受过大的载荷，对第一电机13起到保护作用。
如图6和图7所示，第二电机14安装于下基座122，第二电机14的转轴通过传动组件带动壳体162转动，其中，第一电机13控制壳体162转动的方向与第二电机14控制壳体162转动的方向相垂直。
如图3和图4所示，具体地，主轴133上套有轴承134和锁紧螺母135，主轴133贯穿上基座121，通过轴承134与上基座121转动连接，并用两个锁紧螺母135锁紧，防止主轴133在磁控装置1倒置时活动，锁紧螺母135的外侧还套有轴套136，防止主轴133受振动出现偏移现象。
为了在磁控装置1在上电初始化后，便于操作人员进行后续操作，在本申请一种可能的设计中，磁控装置1还包括至少一个转动原点检测机构，用于判断磁部件16是否处于转动原点(即磁体161的转动原点)。其中，转动原点检测机构至少包括与第一电机13和/或第二电机14电连接的开关组件，以及与开关组件配合而控制电路通断的开关配合件。
需要解释的，在本设计中，转动原点可以是磁部件16绕第一轴线L1转动的转动原点(也称第一零点)，也可以是磁部件16绕L2轴转动的转动原点(也称第二零点)。在一些情况下，可以认为当磁部件16处于第一零点时，磁体161的N极朝上、S极朝下。在其他情况下，还可以将磁部件16的其他姿态作为零点位置，例如磁体161的S极朝上、N极朝下等，只要便于控制胶囊内窥镜即可。
为了对磁体161是否运动到第一零点和/或第二零点进行检测及控制，在本申请一 种可能的设计中，转动原点检测机构安装于上基座121与下基座122之间，开关组件安装于上基座121或下基座122中的一方，开关配合件安装于上基座121或下基座122中的另一方，开关组件与开关配合件之间通过相对转动而控制第一电机13启停。在另一种可能的设计中，转动原点检测机构安装于下基座122与磁部件连接位置处，开关组件安装于下基座122或磁部件16中的一方，开关配合件安装于下基座122或磁部件16中的另一方，开关组件与开关配合件之间通过相对转动而控制第二电机14启停。
在一种可能的设计中，开关组件为光电开关18，开关配合件为码盘19，码盘19上设有检测部；随着光电开关18与码盘19之间的相对转动，当光电开关18检测到检测部时，光电开关18控制电路断开，磁部件16停止在转动原点。
如图3至图7所示，在一种可能的设计中，磁控装置1还包括光电开关18和码盘19；码盘19能够随磁体161转动而与光电开关18相对转动，当光电开关感应到对应的检测部后，判断磁体161到达转动原点。在一种具体的实施方式中，光电开关18与第一电机13或第二电机14连接，用于检测磁体161是否位于转动原点，且磁体161转动至转动原点时，光电开关18控制第一电机13或第二电机14停止工作。
本实施例中，码盘19能够随磁体161转动，光电开关18通过检测码盘19以检测磁体161的转动位置，磁体161转动至转动原点时，光电开关18可控制第一电机13和/或第二电机14停止工作，以控制磁体161停止转动，便于找磁体161的转动原点，以明确胶囊内窥镜的初始位置，同时确定磁体161至少转动一周，以便通过磁体161的磁场变化带动人体内的胶囊内窥镜至少转动一周，使胶囊内窥镜更全面观察人体胃内部情况。
当然，在本申请的实施例中，还可以根据磁体161的实际转动周圈(即检测到磁体161经过转动原点的次数)控制磁部件16的转动。例如，可以设置光电开关18检测到磁体161经过转动原点的次数的阈值，当检测到磁体161经过转动原点的次数超过该阈值时，光电开关18能够控制第一电机13和/或第二电机14停止工作。具体地，可以设置该阈值为150，也即光电开关18检测到磁体161经过转动原点150次。
如图6和图7所示，在一种可能的设计中，码盘19包括第一码盘191，光电开关18包括第一光电开关181，检测部包括设置于第一码盘191上的第一检测部；第一码盘191安装于下基座122，第一光电开关181安装于上基座121，第一光电开关181设有第一凹槽181a，第一光电码盘191上设置有第一检测部，当第一码盘191的第一检测部位于第一凹槽181a内时，第一检测部能够与第一光电开关181配合而控制电路的启停。即，第一检测部的转动初始位置(未上电时)位于第一凹槽181a内，第一光电开关181检测到第一检测部位于第一凹槽181a槽内时，磁体161位于第一零点，第一码盘191能够带动第一检测部随下基座122转动，第一光电开关181再次检测到第一码盘191位于第一凹槽181a内时，磁体161回到第一零点，第一光电开关181控制第一电机13停止工作。其中，第一码盘191每转动一圈，第一检测部经过一次第一凹槽181a。
具体来说，在本申请的一些实施例中，第一检测部为挡光板，并且挡光板设置在第一码盘191的外缘，能够随磁体161转动而转动。本实施例中，上基座121固定在 安装座11上，不进行转动，第一电机13控制下基座122转动，以带动第一码盘191和磁体161转动，第一光电开关181通过检测第一码盘191的挡光板以检测磁体161的转动位置，第一码盘191的的挡光板再次转动至第一凹槽181a内时，磁体161回到第一零点，挡光板对第一凹槽181a内部的光束进行遮挡，使第一光电开关181检测到第一码盘191，并进行自动关闭，第一光电开关181与第一电机13的电源电连接，进而断开第一电机13的电源，控制第一电机13停止工作。
当然，在本申请的其他实施例中，第一检测部还可以为其他结构，只要能够控制磁体161停止在转动原点即可。例如第一检测部为设置于第一码盘191外缘的环状薄壁挡光板，并且挡光板上设置有开口或透明部，当开口透明部处于第一凹槽内部时，第一光电开关18能够通过控制第一电机13使磁体161停止在转动原点。在具体的应用中，可以依据不同的光电开关的种类(例如：对射型光电开关、槽式光电开关等)，选择能够与之配合的第一检测部，具体不再赘述，只要能够控制磁部件16准确停止在转动原点即可。
如图3和图5所示，在一种可能的设计中，壳体162通过轴部162d可转动地安装于下支座122，码盘19还包括第二码盘192，光电开关18还包括第二光电开关182；第二码盘192安装于壳体162或壳体162的轴部162d上，第二光电开关182安装于连接板122a，第二光电开关182设有第二凹槽182a，检测部包括设置于第二码盘192的第二检测部，当第二码盘192的第二检测部位于第二凹槽182a内时，第二检测部能够与第二光电开关182配合控制电路的启停。即第二检测部的转动初始位置(未上电时)位于第二凹槽182a内，第二码盘192带动第二检测部随壳体162转动，第二光电开关182再次检测到第二检测部位于第二凹槽182a内时，磁体161回到转动原点(第二零点)，第二光电开关182控制第二电机14停止工作。其中，第二码盘192每转动一圈，第二检测部经过一次第二凹槽182a。
具体来说，在本申请的一些实施例中，第二检测部可以为开口192a，开口192a设置在第二码盘192的边缘处，能够随磁体161转动而转动。本实施例中，壳体162与连接板122a转动连接，第二电机14控制壳体162转动，以带动第二码盘192和磁体161转动，第二光电开关182通过检测第二码盘192的开口192a以检测磁体161的转动位置，第二码盘192的开口192a再次转动至第二凹槽182a内时，磁体161回到转动原点(第二零点)，开口192a使第二凹槽182a内的光束相通，使第二光电开关182检测到第二码盘192的开口192a，并进行自动关闭，第二光电开关182与第二电机14的电源电连接，进而断开第二电机14的电源，控制第二电机14停止工作。
当然，在本申请的其他实施例中，依据不同种类的光电开关18，第二检测部还可以为其他结构，只要能够控制磁体161停止在第二零点即可。在此，不再赘述。
值得一提的是，开关组件为微动开关组，开关配合件为接触配合部；随着微动开关组与接触配合部之间的相对转动，当微动开关组检测到接触配合部时，微动开关组控制电路断开，磁部件16停止在转动原点。
其中，微动开关组与第一电机13和/或第二电机14电路连接，包括微动开关以及接触部件，微动开关上设置有能够与接触部件配合的接触配合部，通过接触部件与接触配合部的接触与分离控制电路的通断。其中，微动开关组设置于磁控装置1的转动 原点位置处，其接触部件与微动开关中的一者设置为能够随磁体161转动而转动，另一者固定设置，且两个能够相互配合控制电路通断，从而使得磁控装置1能够停在转动原点位置。
为了分别对第一电机13和第二电机14进行调节，微动开关组的个数至少为两个，分别控制磁体161停止于第一零点以及控制磁体161停止于第二零点。在一个具体的实施例中，微动开关组(未图示)设置于上基座121，接触部件(未图示)为动作簧片，接触配合部(未图示)为设置于下基座122朝向微动开关组凸起的凸点，且凸点随下基座122转动，当凸点与动作簧片触碰后，微动开关控制第一电机13关闭，磁体161停止在第一零点。此外，微动开关组还设置于下基座122，凸点设置于磁部件16的壳体162的轴部162d上且随壳体162转动，当凸点与动作簧片触碰后，微动开关控制第二电机14关闭，磁体161停止在第二零点，便于操作人员使用。
需要指出的是，本专利申请文件的一部分包含受著作权保护的内容。除了对专利局的专利文件或记录的专利文档内容制作副本以外，著作权人保留著作权。

Claims (16)

  1. 一种磁控装置，用于控制胶囊内窥镜，其特征在于，所述磁控装置包括：
    安装座，用于吊装所述磁控装置；
    基座，所述基座与所述安装座连接；
    磁部件，所述磁部件包括磁体，所述磁体用于带动所述胶囊内窥镜转动；
    第一电机，用于控制所述磁部件绕第一轴线转动，沿所述磁控装置的第一方向，所述第一电机贯穿所述安装座并安装于所述基座；
    第二电机，用于控制所述磁部件绕第二轴线转动，所述第二电机安装于所述基座；
    所述第一轴线与所述第二轴线相交。
  2. 根据权利要求1所述的磁控装置，其特征在于，所述基座包括上基座和下基座；
    沿所述磁控装置的第一方向，所述上基座位于所述安装座与所述下基座之间，所述安装座与所述下基座之间的空间为安装空间。
  3. 根据权利要求2所述的磁控装置，其特征在于，所述下基座的外边缘超出所述上基座的外边缘。
  4. 根据权利要求2所述的磁控装置，其特征在于，所述第一电机安装于所述上基座；
    所述第二电机连接于所述下基座，设置于所述安装座与所述下基座之间的所述安装空间。
  5. 根据权利要求2所述的磁控装置，其特征在于，所述磁控装置还包括安装板，所述安装板连接于所述基座；
    所述安装板的至少部分延伸至所述安装空间，所述第二电机与所述基座通过所述安装板连接。
  6. 根据权利要求2所述的磁控装置，其特征在于，所述磁控装置还包括导电滑环，所述导电滑环包括上滑环与下滑环；
    所述上滑环安装于所述上基座，用于与电源电连接，所述下滑环安装于所述下基座，用于与所述第二电机电连接。
  7. 根据权利要求6所述的磁控装置，其特征在于，所述导电滑环采用PCB滑环，且所述PCB滑环的厚度小于或等于10mm。
  8. 根据权利要求2～7中任一项所述的磁控装置，其特征在于，所述磁部件包括壳体；
    其中，所述壳体包括左壳体与右壳体，所述左壳体与所述右壳体通过法兰连接，所述磁体固定于所述壳体内。
  9. 根据权利要求8所述的磁控装置，其特征在于，沿所述磁控装置的第二方向，所述下基座的两端设有连接板，沿所述磁控装置的第一方向，两个所述连接板朝远离所述上基座的方向延伸；
    所述壳***于两个所述连接板之间，并与两个所述连接板转动连接，且在所述第一电机和所述第二电机的驱动下壳体转动。
  10. 根据权利要求2所述的磁控装置，其特征在于，所述磁控装置还包括至少一个转动原点检测机构，用于判断所述磁部件是否处于转动原点；
    所述转动原点检测机构包括与所述第一电机和/或所述第二电机电连接的开关组件，以及与所述开关组件配合而控制电路通断的开关配合件。
  11. 根据权利要求10所述的磁控装置，其特征在于，所述转动原点检测机构安装于所述上基座与所述下基座之间，所述开关组件安装于所述上基座或所述下基座中的一方，所述开关配合件安装于所述上基座或所述下基座中的另一方，所述开关组件与所述开关配合件之间通过相对转动而控制所述第一电机启停。
  12. 根据权利要求10所述的磁控装置，其特征在于，所述转动原点检测机构安装于所述下基座与所述磁部件连接位置处，所述开关组件安装于所述下基座或所述磁部件中的一方，所述开关配合件安装于所述下基座或所述磁部件中的另一方，所述开关组件与所述开关配合件之间通过相对转动而控制所述第二电机启停。
  13. 根据权利要求10～12中任一项所述的磁控装置，其特征在于，所述开关组件为光电开关，所述开关配合件为码盘，所述码盘上设有检测部；
    随着所述光电开关与所述码盘之间的相对转动，当所述光电开关检测到所述检测部时，所述光电开关控制电路断开，所述磁部件停止在转动原点。
  14. 根据权利要求10～12中任一项所述的磁控装置，其特征在于，所述开关组件为微动开关组，所述开关配合件为接触配合部；
    随着所述微动开关组与所述接触配合部之间的相对转动，当所述微动开关检测到所述接触配合部时，所述微动开关组控制电路断开，所述磁部件停止在转动原点。
  15. 根据权利要求1所述的磁控装置，其特征在于，所述第一电机和/或所述第二电机采用直流电机或步进电机。
  16. 一种磁控胶囊内窥镜***，其特征在于，包括权利要求1～15中任一项所述的磁控装置，所述磁控装置通过所述安装座搭载于所述磁控胶囊内窥镜***。
PCT/CN2021/105593 2020-07-10 2021-07-09 一种磁控装置及磁控胶囊内窥镜*** WO2022007963A1 (zh)

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