Capsule automatic navigation system and navigation method

Abstract

The invention discloses a capsule automatic navigation system and a navigation method. The system comprises a capsule endoscope controller, wherein the capsule endoscope controller comprises an automatic inspection control device; the system also comprises a magnetic control device; the automatic inspection control device comprises a capsule capturing module, a capsule posture acquisition module,a capsule image position recognition module and a capsule basic action inspection module; and the magnetic control device comprises a mechanical arm with multiple degrees of freedom, a motor driving the mechanical arm to move and a permanent magnet. The automatic inspection control device captures the capsule position, adjusts the capsule posture, and performs navigation with the capsule image position recognition module. The automatic inspection control device controls the mechanical arm to pull the capsule to move to the designated anatomical position, and completes the inspection at anatomical positions until the automatic inspection of all anatomical positions is completed. The system can automatically realize automatic navigation inspection of the capsule, and greatly reduce the operation burden of a doctor. Meanwhile, the capsule image position recognition module ensures that all anatomical positions are inspected so as to reduce the risk of inspection missing.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and relates to a capsule automatic navigation system and a navigation method. Background technique [0002] In recent years, in the application of capsule endoscopes for examining the human digestive tract, in order to overcome the disadvantage of relying on the peristalsis of the digestive tract to drive the movement of the capsule endoscope in the body (a passive inspection method), the market A magnetically controlled capsule endoscope device that can realize active control has appeared on the Internet, that is, the external magnetic force is used to drive the capsule endoscope with small magnets, so as to achieve the purpose of active inspection of the digestive tract. For example, Anhan Optoelectronics Technology (Wuhan) Co., Ltd. The company's automatic magnetic control capsule Ankon system and Chongqing Jinshan Technology's magnetic control capsule system. [0003] At present, the...

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Problems solved by technology

[0003] At present, there are two types of magnetically controlled capsule systems on the market. One is the manual operation of the joystick, which drives the external magnet to move through the mechanical arm, and the change of the external magnetic force drives the movement of the capsule endoscope with the small magnet, so as to achieve The purpose of actively controlling the capsule endoscope for internal inspection of the human digestive tract, such as the technology in the applicant's existing patent CN206880655U; the other is to hold an external magnet and directly control the movement of the external magnet to drive the capsule endoscope with a small magnet in the body Exercise, the above two methods, require manual control by the doctor, which undoubtedly increases the burden on the operating doctor. Due to the irregularity caused by manual operation, there is a greater risk of missed detection

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