Magnetic-navigation motion control system for use in capsule endoscopy

Abstract

The invention discloses a magnetic-navigation motion control system for use in capsule endoscopy, which can realize the motion control and position control over a capsule endoscope in the alimentary canal. The system comprises a supporting part for an examination receiver, a magnetic assembly, a magnetic support seat and a servo control unit, wherein the magnetic assembly generates a quasi-static magnetic field by using a permanent magnet and mechanical movement to realize the positioning and orienting of the capsule endoscope with a built-in permanent magnet. The magnetic-navigation motion control system provided by the invention has 5 universal driving shafts and can realize the motion control and position control over the capsule endoscope in the alimentary canal with the external control over the feeding speeds, rotating speeds and relative movement speeds of the parts of a magnetic navigator system.

Description

technical field [0001] The invention belongs to wireless capsule endoscope detection technology, in particular to a magnetically controlled navigation system for a capsule medical device for digestive tract endoscope detection Background technique [0002] Wireless capsule endoscopy detection is a non-invasive medical detection technology developed in the past ten years. Through a swallowable capsule endoscope with the size of an ordinary pill that integrates LED lighting chips, imaging devices, wireless transmission modules and power sources, it can be used in the human body. Lesion detection is performed in the gastrointestinal tract, and the gastrointestinal image data is wirelessly transmitted to a peripheral receiving device, and experienced physicians perform online or offline diagnosis on the workstation. The wireless capsule endoscope overcomes the disadvantages of traditional push-pull gastroscopy, such as invasive pain, limited detection range (only the front end o...

AI Technical Summary

Problems solved by technology

[0003] However, there are still many defects in commercial wireless capsule endoscopes: 1) the detection period is long, usually 6-8 hours; 2) accurate analysis and careful observation cannot be performed after the lesion is detected; 3) once it stays in the body, It can only be taken out in an invasive way, and there are potential safety hazards; 4) Drug release and specimen collection cannot be achieved

[0006] However, the active control methods proposed in the above patent documents all have relatively large defects and potential safety hazards.

The internal structure of the worm-type capsule endoscope is complex, and the "bellows effect" will cause a greater degree of damage to the intestinal tract

The three-dimensional rotating magnetic field control method is very complicated. The helical structure capsule advances in a rotating manner. Due to the stretching dynamic characteristics of the intestinal tract, it is difficult to avoid contact and friction between the helical structure and the intestinal tract. The intestinal tract causes great damage, which is not conducive to clinical promotion and use

In addition, the potential harm of electromagnetic radiation generated by alternating electromagnetic fields to the human body is unpredictable, and a large number of animal experiments and clinical verifications are still needed

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