Capsule type endoscope in-vitro navigation device

Abstract

The invention provides a capsule type endoscope in-vitro navigation device, and relates to the field of medical apparatus and instruments. The device comprises a base mechanism, a movable bed body, a Y-axis frame mechanism, a Z-axis mechanism, a magnet universal rotating mechanism and a magnet; the mobile bed body is fixed to the base mechanism, the Y-axis frame mechanism is perpendicularly connected to the base mechanism, the Z-axis mechanism is movably and perpendicularly connected to the Y-axis frame mechanism, and the magnet is connected with the magnet universal rotating mechanism which is connected with the Z-axis mechanism; the base mechanism controls the magnet to move in the X-axis direction, the mobile bed body can move in the X-axis direction, the Y-axis frame mechanism controls the magnet to move in the Y-axis direction, the Z-axis mechanism controls the magnet to move in the Z-axis direction, and the magnet universal rotating mechanism controls the magnet to rotate around the horizontal axis and the vertical axis of the magnet universal rotating mechanism. The capsule type endoscope in-vitro navigation device is stable, compact, safe, convenient, visual and reliable, the device can well assist in controlling the tail end magnet, and rapid and accurate direction control over a capsule type endoscope in the abdominal cavity of the human body is achieved.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a capsule endoscope external navigation device. Background technique [0002] With the development of modern technology, the examination of internal gastrointestinal diseases has changed from traditional endoscopy and gastrointestinal endoscopy to a safer and more convenient high-tech direction, such as using capsule endoscopes instead of traditional endoscopes to enter the human digestive tract Help medical staff to take pictures of lesions in the digestive tract. [0003] At present, the capsule endoscope can be manually controlled by an external magnet, but in clinical applications, the control effect is not ideal, and the positioning accuracy is not high, resulting in a large blind spot in the capsule endoscopy. [0004] In the prior art, there is a robotic device for driving the movement of the capsule endoscope in the digestive tract, as shown in patents CN103222842 B, CN 10...

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Problems solved by technology

[0003] At present, the capsule endoscope can be manually controlled by an external magnet, but in clinical applications, the control effect is not ideal, and the positioning accuracy is not high, resulting in a large blind spot in the capsule endoscopy.

[0004] In the prior art, there is a robotic device for driving the movement of the capsule endoscope in the digestive tract, as shown in patents CN103222842 B, CN 105615817 A, and CN 105962876 A. The robotic device can accurately control the movement of the five degrees of freedom of the magnet. However, in the above-mentioned patents, since the support mechanism in the vertical or horizontal direction is a cantilever mechanism, the bending moment borne by the support mechanism is large, and the strength requirement is high, so it is not easy to improve the mechanical safety factor and structural stability of the product.

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