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 bed body mechanism, a Z-axis frame mechanism, a Y-axis bracket mechanism, a magnet universal rotating mechanism and a magnet; the base mechanism controls the magnet to move in the X-axis direction, the Z-axis frame mechanism controls the magnet to move in the Z-axis direction, the Y-axis bracket mechanism controls the magnet to move in the Y-axis direction, the magnet universal rotating mechanism controls the magnet to rotate in the horizontal axis direction and the vertical direction of the magnet universal rotating mechanism, and the bed body mechanism controls the bed body to move in the X-axis direction. By means of the capsule type endoscope in-vitro navigation device, control over five degrees of freedom of a magnet can be achieved, a gantry type Cartesian coordinate robot structure which is high in reliability and good in stability is adopted, and the structure is simple and convenient to manufacture.

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] The active drive and control of oral capsule endoscope has become a research hotspot and frontier of minimally invasive or non-invasive diagnosis and treatment technology for human digestive tract diseases, which can significantly reduce the diagnosis and treatment cycle and the pain of patients. The active adjustment of the posture of the capsule endoscope in the body and the active control of walking can solve the problem of visual blind spots in interventional diagnosis, so it is of great significance to clinical diagnostic technology. [0003] At present, the control of the capsule endoscope can be manually controlled by an external magnet. However, in clinical applications, the manual control has unsatisfactory control effects and low positioning accuracy, which may easily lead to large blind spots i...

AI Technical Summary

Problems solved by technology

The robot motion structure can accurately control the motion of the five degrees of freedom of the magnet. However, in the above-mentioned patents, since the vertical or horizontal support mechanism is a cantilever mechanism, the bending moment it bears is relatively large, and the strength requirements for the support mechanism Higher, not easy to improve the mechanical safety factor and structural stability of the product

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