Capsule endoscopy motion control method and system

Abstract

The application discloses a capsule endoscopy motion control method. The method comprises the steps that the actual motion state of the capsule endoscopy detected by a sensor arranged in the capsule endoscopy is received; the capsule endoscopy is located in a magnetic field produced by a solenoid; based on the actual motion state and an input expected motion state, the control voltage of the solenoid is calculated by means of a control model; the power supply voltage of the solenoid is adjusted based on the control voltage, so that the forced condition of the capsule endoscopy is changed until the capsule endoscopy reaches the expected motion state. According to the method, the magnetic field is produced by the solenoid, and the magnetic field can be effectively adjusted through adjustment of the power supply voltage of the solenoid, so that active control of the capsule endoscopy is achieved in combination with closed-loop feedback control, and the capsule endoscopy is applicable to detection of the highly dynamic environment of a human stomach. The application further discloses a capsule endoscopy motion control system, and the system also has the above advantages.

Description

technical field [0001] The present application relates to the field of medical devices, in particular to a method and system for controlling motion of a capsule endoscope. Background technique [0002] Capsule endoscopy is an endoscope made in the shape and size of a capsule, which is used to check the health of the human digestive tract. The capsule endoscope has a built-in camera device and signal transmission device. After being swallowed by the subject, it can move along the digestive tract, take pictures of the inner wall of the digestive tract, and transmit the captured images to the external terminal, so that doctors can pass through The images taken by the capsule endoscope are used to diagnose the condition of the digestive tract of the subject. [0003] However, currently available products on the market do not allow doctors to actively control the movement of the capsule endoscope in the human digestive tract. After being swallowed, the capsule endoscope can only...

AI Technical Summary

Problems solved by technology

However, in this scheme, since the magnetic field generated by the permanent magnet is fixed, and the adjustment ability of the electromagnet to the magnetic field is very limited, the control ability of this method for the capsule endoscope is also very limited; and this scheme is only in a single Direction—The capsule endoscope is subjected to force analysis and control in the vertical direction, so it is only applicable to the adjustment of the motion state in the vertical direction in a theoretical static environment, not applicable to the actual situation of continuous peristalsis and contraction of the human stomach. highly dynamic environment

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