Control system of capsule endoscope

Abstract

The invention discloses a control system of a capsule endoscope. The control system comprises a control end and a robot body. A magnet for pulling the capsule endoscope is fixed to the robot body. Thecontrol end generates a control instruction according to parameters of preset detection position points by means of a robot multi-axis interpolation control algorithm and sends the control instruction to the robot body; the robot body analyzes the control instruction to obtain a movement trajectory curve, and the automatic pulling capsule endoscope automatically goes to all the preset position points according to the movement trajectory curve for multi-angle camera shooting. It can be seen that by means of the system, the automatic pulling capsule endoscope is obtained by controlling the robot body for comprehensive scanning. The robot body is automatically pulled, no fatigue problem can be generated after the robot body operates for a long time, the robot body is pulled according to themovement trajectory curve, the precision errors caused by manual pulling can be avoided, and the movement precision is improved, the robot body can be kept at an ideal adsorption position.

Description

technical field [0001] The invention relates to the field of medical technology, in particular to a control system of a capsule endoscope. Background technique [0002] With the continuous development and progress of medical technology, the application of capsule endoscopes is becoming more and more extensive. [0003] At present, the capsule endoscope is generally manually pulled. Specifically, the doctor holds a permanent magnet to change the magnetic field to pull the capsule, so as to photograph as many parts as possible. Manual traction capsules have the following disadvantages: the cooperation of human brain and human hands to complete the traction, there will be missing areas in scanning, or repeated scanning areas; the unavoidable shaking of human hands will cause errors in accuracy; Fatigue occurs; the doctor needs to view the images taken by the capsule endoscope while pulling, which is very inconvenient; when pulling with a magnet, the ideal position of the capsu...

AI Technical Summary

Problems solved by technology

Manual traction capsules have the following disadvantages: the cooperation of human brain and human hands to complete the traction, there will be missing areas in scanning, or repeated scanning areas; the unavoidable shaking of human hands will cause errors in accuracy; Fatigue occurs; the doctor needs to view the images taken by the capsule endoscope while pulling, which is very inconvenient; when pulling with a magnet, the ideal position of the capsule and the magnet cannot be controlled. If the distance between the capsule and the magnet is long, the capsule will lose its magnetic field pull and fall

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