Capsule robot for gastrointestinal endoscopy, and control system thereof

Abstract

The invention discloses a capsule robot for gastrointestinal endoscopy, and a control system thereof. The capsule robot comprises a capsule shell, an internal permanent magnet arranged inside the capsule shell, a gear driving mechanism, a video collecting unit, and a revolving leg extending out of the capsule shell. The internal permanent magnet can be driven to rotate by an external permanent magnet. The input end of the gear driving mechanism is connected to the permanent magnet and used for switching rotation into revolving around the main axis of the capsule robot; and a sliding pair is formed by the output end of the gear driving mechanism and the revolving leg, and the output end of the gear driving mechanism is used for driving the revolving leg to change the length of the revolving leg extending out of the capsule shell. The video collecting unit is used for photographing a detected area and sending photographed videos to a video receiving and processing device so as to execute the endoscopy process. The invention further discloses a corresponding motion control system. By the aid of the capsule robot and the control system, the active control process of the capsule endoscopy can be executed flexibly, and meanwhile, the capsule robot further has the advantages of active traveling, capability of executing gastrointestinal expansion, constant driving force supply and the like.

Description

technical field [0001] The invention belongs to the technical field of endoscope detection, and more specifically relates to a capsule robot and a control system thereof for digestive tract endoscopy. Background technique [0002] Capsule endoscope is a kind of capsule-shaped portable electronic device for human digestive tract examination that appeared at the beginning of this century. Compared with traditional endoscopes, it has the advantages of small size, convenient use, and no pain, so it has been widely used in the inspection of human digestive tract. The capsule endoscope usually includes an illumination module, a camera module, a wireless transceiver module, etc., and is powered by a built-in battery. After it is swallowed, it wriggles with the human digestive tract, and takes pictures and images of the human digestive tract during the wriggling process; the collected images are transmitted to the workstation computer through the wireless transceiver module, which ...

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Problems solved by technology

[0004] However, further studies have shown that the above-mentioned magnetic dragging capsule endoscope often has the problem of dragging difficulty when the distance between the built-in permanent magnet and the external permanent magnet is too large, and it cannot expand the intestinal tract, so it is not easy to find Diseases hidden in the folds of the intestinal tract; for screw-in capsule endoscopes, this driving method does not fundamentally solve the problem of insufficient driving force, and the rotating magnetic field generating equipment used in it produces Alternating magnetic fields have yet to be demonstrated in terms of safety and no side effects, and it also cannot effectively expand the intestinal tract

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