CN111631669A - Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method - Google Patents
Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method Download PDFInfo
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- CN111631669A CN111631669A CN202010492658.4A CN202010492658A CN111631669A CN 111631669 A CN111631669 A CN 111631669A CN 202010492658 A CN202010492658 A CN 202010492658A CN 111631669 A CN111631669 A CN 111631669A
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B1/04—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
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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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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Abstract
The invention provides a capsule type endoscope intelligent driving device based on three-dimensional orthogonal magnetic field control and a capsule type endoscope intelligent driving control method realized by using the device. The capsule type endoscope driving device comprises three groups of electrified coils, an operation table, a current control circuit module, a signal receiving and processing module and an image PC display module; the three groups of electrified coils are connected with a current control circuit, the current control circuit is connected with an operation table and an external civil power supply, and a display receives image information wirelessly transmitted from an endoscope capsule in the body and is used as the basis for the specific operation of a medical operator. The invention increases the success rate of digestive tract disease examination, reduces the disease examination time of medical workers, and reduces the pressure and treatment cost of hospitals and patients.
Description
Technical Field
The invention belongs to the technical field of clinical medical detection, and relates to a capsule type endoscope driving device based on a three-dimensional orthogonal magnetic field and a control method.
Background
At present, the incidence rate of digestive tract diseases in China exceeds 13%, the total number of patients exceeds 1.5 hundred million, and the number of the patients tends to rise year by year. The late-stage incidence of digestive tract disease will also rise dramatically in the next 5-10 years if early detection and diagnosis cannot be effectively performed. Traditional hose-type gastrointestinal endoscopy brings great misery for the patient, and some patients give up the inspection because of being unbearable, to serious gastroenteropathy patient, hose-type gastrointestinal endoscopy very easily leads to the secondary injury. Compared with the conventional gastrointestinal endoscope, the capsule endoscope expands the inspection area and the visual field of the digestive tract, improves the detection rate of the focus, and is safer and more comfortable to use. However, the capsule movement is completely propelled by the peristaltic movement of the digestive tract, and the uncontrolled movement results in long time consumption of each examination, thereby restricting the further development of the capsule type endoscope real-time display technology and increasing the detection cost of hospitals and patients. The popularization of capsule endoscopes in clinic proves that the operation of the capsule endoscope in the alimentary canal of a human body is safe and noninvasive. Under the acceleration state within the proper stress range, the smooth appearance of the capsule endoscope does not damage the digestive tract, and research and reports are carried out by the existing research institutions.
The current driving mode mainly has the following three defects:
(1) the motion pattern is single (only forward or backward drive). The endoscope is determined by the driving mode of the built-in driver, such as a precession type driving of a cylinder with a spiral groove by using magnetic torque, a bionic wormcast type driving, an inchworm type driving and the like, and the endoscope can only move forwards or backwards. The single driving mode causes that after a patient swallows the capsule endoscope, a camera head of the endoscope is possibly not aligned with a focus (particularly in the stomach), so that missed examination occurs, and gastrointestinal disease examination fails;
(2) causing discomfort to the human body or damage to the digestive tract. The modes of spiral driving, wormcast driving, inchworm driving, paddling and the like not only have high requirements on built-in batteries, but also cause severe discomfort to patients. Even if the screw-type driving mode for driving the minimum motion is adopted, the screw threads can cause inconvenience for swallowing and discharging of a patient and damage during peristalsis of the digestive tract, and digestive tract chyme is easy to fill the threads, so that the propeller cannot work, and the precession efficiency is difficult to ensure;
(3) the experimental environment is simple, and the complex internal environment of the human digestive tract cannot be reflected. Many researchers use a bent glass tube filled with edible oil and a cleaned pig small intestine to simulate the environment of the human digestive tract, which are far from the actual human digestive tract. The human gastrointestinal tract is curved, creased, with mucus and chyme attached to the surface, which makes the simulation experiments practically much more difficult.
Disclosure of Invention
The present invention is directed to provide a capsule endoscope driving device based on a three-dimensional orthogonal magnetic field, which is designed to solve the above-mentioned problems of the prior art, and how to drive a capsule endoscope to move in a human body by a magnetic field.
The purpose of the invention can be realized by the following technical scheme: a capsule type endoscope driving device based on a three-dimensional orthogonal magnetic field is characterized by comprising a capsule type endoscope, a permanent magnet cylinder and the three-dimensional orthogonal magnetic field, wherein the permanent magnet cylinder is sleeved outside the capsule type endoscope, the three-dimensional orthogonal magnetic field is an excitation structure which generates a magnetic field by winding an electrified current, magnetic pole connecting lines generated by electrified coils are mutually vertical, and the current of the electrified coils is respectively controlled.
A control method of a capsule type endoscope driving device based on a three-dimensional orthogonal magnetic field is characterized in that the position and the operation posture of the capsule type endoscope in a digestive tract are monitored in real time through an image shot by the capsule type endoscope, and a doctor determines the driving or the positioning of a capsule according to self-diagnosis requirements; the three-dimensional orthogonal magnetic field is established by three groups of mutually vertical electrified coils positioned outside the body of a patient, and the resultant magnetic field with any size and direction can be obtained by changing the current of the electrified coils, so that the forward and backward driving and the multi-angle deflection of the capsule which is positioned in the magnetic field and is sleeved with the cylindrical permanent magnetic material at the outer layer are realized, the endoscope is positioned and checked in a suspicious area, and the forward movement is accelerated in an irrelevant area; the doctor judges the current state of the capsule according to the image data of the display screen and then decides the next operation.
The invention only needs to sleeve a layer of cylindrical permanent magnetic material on the surface of the capsule, and the surface of the capsule keeps smooth, thereby well avoiding discomfort or damage to the digestive tract of a human body in the driving process.
The invention provides a capsule type endoscope intelligent driving process based on three-dimensional orthogonal magnetic field control, which comprises the following steps:
acting force is generated on the endoscope capsule sleeved with the cylindrical permanent magnetic material on the outer layer through the resultant magnetic field, so that the capsule generates front and back driving and multi-degree-of-freedom deflection;
further, the movement of the capsule is controlled by an operation table, which is controlled by medical staff. Based on the images fed back by the endoscopic capsule on the display screen, the medical staff decides the next action of the capsule in accordance with his own diagnostic needs. The operation platform is an interaction platform for the capsule and a medical operator and consists of a rocker, a rotary ball and a display module;
the rocker controls the endoscope capsule to move forwards and backwards, the rotating ball controls the endoscope capsule to deflect in multiple degrees of freedom, and the two enable the capsule to generate combined motion in any direction;
the amplitude of the rocker movement determines the amplitude of the forward/backward movement of the capsule endoscope and the amplitude of the ball rotation determines the angle of capsule deflection. This is all the result of the cooperative force of the three orthogonal magnetic fields in vitro on the permanent magnet wrapping the capsule, i.e. the magnitude and direction of the resultant force are determined by the magnitude of the current of the three groups of electrified coils. The larger the coil current is, the larger the magnetic field generated by the coil is, and conversely, the smaller the generated magnetic field is;
furthermore, the current of each group of coils is controlled by a rocker and a rotary ball of the operating platform, an embedded ARM computer mainboard is arranged between the coil group and the operating platform and used for intelligently controlling the current passing through each group of coils according to the operation of medical staff, the ARM embedded processor is a high-performance processor with extremely low power consumption and extremely low cost, the operation speed is high, the precision is high, and the real-time multitask system is realized;
preferably, the external commercial power supply is split into Ia, Ib and Ic by the current control circuit. The current control circuit receives and changes the size and the direction of Ia, Ib and Ic according to the instruction sent by the operating console, so that the coil A, B, C generates a proper resultant magnetic field to drive the capsule in the alimentary canal;
furthermore, the display screen is used for displaying the state of the endoscope capsule in the digestive tract of the human body in real time, and the display data is the basis for the medical operator to judge the next action. The display module is displayed by a PC, and images transmitted by the endoscope capsule are intercepted at any time and stored and analyzed.
The positive progress effects of the invention are as follows: firstly, the success rate of digestive tract disease examination is increased, missing examination (especially on parts with larger space, such as the stomach) is avoided, and more detailed image information is obtained by positioning examination in a suspicious region; secondly, the working efficiency of doctors is greatly improved, the disease examination time is reduced, and the pressure and treatment cost of hospitals and patients are reduced; thirdly, the design is more humanized, and the oppression feeling of the patient caused by other examination modes is avoided; and fourthly, important technical support is provided for clinical popularization of the capsule type endoscope real-time display technology, and more patients can enjoy achievements brought by high technology.
Drawings
Fig. 1 is a schematic structural diagram of a capsule type endoscope intelligent driving device based on three-dimensional orthogonal magnetic field control.
FIG. 2 is a schematic diagram of functional modules of the console of the present invention.
FIG. 3 is a schematic block diagram of the current control circuit of the present invention.
Fig. 4 is a flow chart of the civil power supply control conversion circuit design of the present invention.
Fig. 5 is a schematic view of a magnetic field in the intelligent driving device of the capsule type endoscope.
In the figure, 1, a capsule type endoscope; 2. a permanent magnetic cylinder.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in figure 1, three groups of electrified coils A, B and C are connected with a current control circuit, the current control circuit is connected with an operation table and an external power supply, a PC display receives image signals sent by an endoscope capsule M in a wireless mode, technical processing such as denoising and the like is needed to be carried out on the signals before receiving the signals, a medical operator judges the current state of the capsule through the images of the PC display, then the operation table is operated according to diagnosis needs, and main control components of the operation table are a rocker and a rotary ball.
As shown in fig. 1, the PC, in addition to receiving signals from the capsule M, also has image capture, and the functions of developing, analyzing and storing captured images.
As shown in fig. 1, the console operates the rocker and the rotary ball to transmit a control signal to the current control circuit, and then the current control circuit modulates the current of the external household power supply (AC220V) and transmits the modulated current to the coils a, B and C. Three circuit modulation ports are arranged in the current control circuit and respectively correspond to the coils A, B and C.
As shown in figure 1, a layer of smooth cylindrical permanent magnetic material is sleeved outside the endoscope capsule and used for generating interaction force with a closed magnetic field generated by three groups of electrified coils A, B and C.
It should be noted by those skilled in the art that the method for constructing the three-dimensional orthogonal magnetic field for driving the endoscope capsule and other methods for generating the driving magnetic field of the endoscope capsule by changing the shape of the coil are all within the protection scope of the present invention. All other facts that can be obtained without creative effort also belong to the protection scope of the present invention.
FIG. 2 is a schematic diagram of functional modules of the console of the present invention. As shown in fig. 2, there are two functional modules constituting the operation table, i.e., a forward/backward movement module and a multi-degree-of-freedom deflection module. The forward/backward movement of the endoscope capsule is controlled by a rocker; the multi-degree-of-freedom deflection of the endoscope capsule is controlled by the rotating ball.
It should be noted by those skilled in the art that the rocker and the ball of the present invention have applications in other medical devices, but it is within the scope of the present invention that the rocker of the present invention is used to control the forward/backward movement of an endoscopic capsule and the ball of the present invention is used to control the multiple degree of freedom deflection of the endoscopic capsule.
FIG. 3 is a schematic block diagram of the current control circuit of the present invention. The current control circuit is a core component for converting the civil electric energy into the target currents of the coils A, B and C, and the specific conversion needs to receive instructions from an operation table. The current control circuit of the invention is internally provided with three input conversion ports which respectively correspond to an external civil power supply and three output ports, and generates currents Ia, Ib and Ic which respectively correspond to three coils A, B and C to generate orthogonal magnetic fields. The medical operator judges whether the posture of the driving of the endoscope capsule reaches the expectation through the image analysis of the display, if so, the operation is finished, otherwise, the operation platform continues to send the instruction to the current control circuit until the current posture of the capsule reaches the expectation. Specifically, the current control circuit achieves the purpose of controlling and converting external civil electric energy through the embedded ARM computer mainboard, and receives and analyzes instructions from the operation console through the embedded ARM computer mainboard.
It should be noted by those skilled in the art that the embedded ARM computer motherboard is used as the core component of the current control circuit in the present invention, and other alternative methods, such as using other intelligent computing chips as the core component of the current control of the current coils a, B, and C in the present invention, are all within the protection scope of the present invention.
Fig. 4 is a flow chart of the civil power supply control conversion circuit design of the present invention. The civil electricity AC220V is not directly input to the three input ports of the current conversion circuit, and needs to be converted from AC to dc. And then, the purpose of controlling the direct current controller is achieved by receiving and analyzing an instruction from the operating console through the ARM computer mainboard, and the control on the direct current controller comprises the control on the current size and direction.
As shown in fig. 5, the capsule endoscope driving device based on the three-dimensional orthogonal magnetic field comprises a capsule endoscope 1 and a permanent magnet cylinder 2 sleeved outside the capsule endoscope 1, wherein the magnetic poles of the permanent magnet cylinder 2 can form repulsive force or attractive force with the magnetic fields generated by the three groups of electrified coils under a preset condition, and the resultant force formed by the three groups of electrified coils can form pushing force or pulling force in any direction on the permanent magnet cylinder, so that the capsule endoscope 1 is controlled to run in a human body.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A capsule type endoscope driving device based on a three-dimensional orthogonal magnetic field is characterized by comprising a capsule type endoscope, a permanent magnet cylinder and the three-dimensional orthogonal magnetic field, wherein the permanent magnet cylinder is sleeved outside the capsule type endoscope, the three-dimensional orthogonal magnetic field is an excitation structure which generates a magnetic field by winding an electrified current, magnetic pole connecting lines generated by electrified coils are mutually vertical, and the current of the electrified coils is respectively controlled.
2. A control method of a capsule type endoscope driving device based on a three-dimensional orthogonal magnetic field is characterized in that the position and the operation posture of the capsule type endoscope in a digestive tract are monitored in real time through an image shot by the capsule type endoscope, and a doctor determines the driving or the positioning of a capsule according to self-diagnosis requirements; the three-dimensional orthogonal magnetic field is established by three groups of mutually vertical electrified coils positioned outside the body of a patient, and the resultant magnetic field with any size and direction can be obtained by changing the current of the electrified coils, so that the forward and backward driving and the multi-angle deflection of the capsule which is positioned in the magnetic field and is sleeved with the cylindrical permanent magnetic material at the outer layer are realized, the endoscope is positioned and checked in a suspicious area, and the forward movement is accelerated in an irrelevant area; the doctor judges the current state of the capsule according to the image data of the display screen and then decides the next operation.
3. The method as claimed in claim 2, wherein the movement of the capsule is controlled by an operation console, the operation console is controlled by a medical staff, and the medical staff determines the next action of the capsule according to the diagnostic requirement of the medical staff according to the image fed back by the endoscopic capsule on the display screen. The operation platform is an interaction platform for the capsule and a medical operator and consists of a rocker, a rotary ball and a display module;
the rocker controls the endoscope capsule to move forwards and backwards, the rotating ball controls the endoscope capsule to deflect in multiple degrees of freedom, and the two enable the capsule to generate combined motion in any direction;
the amplitude of the rocker movement determines the amplitude of the forward/backward movement of the capsule endoscope and the amplitude of the ball rotation determines the angle of capsule deflection. The results are that three groups of orthogonal magnetic fields in vitro generate cooperative force on the permanent magnet wrapping the capsule, namely the magnitude and the direction of the resultant force are determined by the current magnitude of three groups of electrified coils; the larger the coil current, the larger the magnetic field generated by the coil, and conversely, the smaller the generated magnetic field.
4. The method as claimed in claim 3, wherein the current passing through each set of coils is controlled by a rocker and a rotary ball of the console, an embedded ARM computer motherboard is disposed between the coil set and the console for intelligently controlling the current passing through each set of coils according to the operation of medical staff, the ARM embedded processor is a high performance processor with extremely low power consumption and cost, and has high operation speed and high precision, and is a real-time multitask system.
5. The method for controlling the driving device of the capsule type endoscope based on the three-dimensional orthogonal magnetic field as claimed in claim 4, wherein the external civil power supply is divided into Ia, Ib and Ic for establishing the three-dimensional orthogonal magnetic field by a current control circuit, and the current control circuit receives and changes the size and direction of Ia, Ib and Ic according to the instruction sent by the console, so that the coil A, B, C generates the appropriate resultant magnetic field to drive the capsule in the alimentary canal.
6. The method for controlling the capsule type endoscope driving device based on the three-dimensional orthogonal magnetic field as claimed in claim 5, wherein the display screen is used for displaying the state of the endoscope capsule in the alimentary canal of the human body in real time, the display data is the basis for the medical operator to judge the next action, the display module is displayed by the PC, and the image transmitted by the endoscope capsule is intercepted at any time and stored and analyzed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010492658.4A CN111631669A (en) | 2020-06-03 | 2020-06-03 | Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method |
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| CN202010492658.4A CN111631669A (en) | 2020-06-03 | 2020-06-03 | Capsule type endoscope driving device based on three-dimensional orthogonal magnetic field and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113229770A (en) * | 2021-03-25 | 2021-08-10 | 北京善行医疗科技有限公司 | Medical device guidance and control system and method |
| CN118141520A (en) * | 2024-05-10 | 2024-06-07 | 梅奥心磁(杭州)医疗科技有限公司 | Three-dimensional interventional instrument electromagnetic device and system |
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| CN107773205A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of capsule endoscopic magnetic control system |
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| CN101513340A (en) * | 2009-03-19 | 2009-08-26 | 上海交通大学 | Capsule endoscope system of energy supply in vitro |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113229770A (en) * | 2021-03-25 | 2021-08-10 | 北京善行医疗科技有限公司 | Medical device guidance and control system and method |
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