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Suspension control method and device for capsule endoscope

A technology of capsule endoscopy and suspension control, which is applied in the direction of endoscope, gastroscope, esophagus, etc., and can solve the problems of being unable to control the distance between the capsule endoscope and the stomach wall, and failing to obtain better imaging effects

Active Publication Date: 2020-01-03
BEIJING HUAGEN ANBANG TECH CO LTD +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the embodiments of the present application is to provide a suspension control method and device for a capsule endoscope, which controls the suspension distance of the capsule endoscope by changing the force of the capsule endoscope, and solves the problem that the existing method cannot control the distance between the capsule endoscope and the stomach wall. The distance between them, resulting in the problem of not being able to obtain a better imaging effect

Method used

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  • Suspension control method and device for capsule endoscope
  • Suspension control method and device for capsule endoscope
  • Suspension control method and device for capsule endoscope

Examples

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Embodiment 1

[0066] Please see figure 1 , figure 1 It is a flow chart of a suspension control method for a capsule endoscope provided in an embodiment of the present application. The method specifically may include the following steps:

[0067] Step S100: receiving the magnetic induction intensity of the electromagnetic field where the capsule endoscope 800 is located;

[0068] In the above implementation process, the capsule endoscope 800 is provided with a magnetic sensor, and the magnetic induction intensity of the electromagnetic field where the capsule endoscope 800 is located can be read through the magnetic sensor.

[0069] example, such as figure 2 Shown is a schematic flow chart of obtaining system parameters. Before the step S200 of acquiring the current position of the capsule endoscope 800 according to the magnetic induction intensity, the method further includes:

[0070] Step S210: Obtain the linear distance between the capsule endoscope 800 and the electromagnetic fiel...

Embodiment 2

[0107] The embodiment of the present application also provides a suspension control device for the capsule endoscope 800, such as Image 6 As shown, it is a structural block diagram of the suspension control device of the capsule endoscope 800 provided in the embodiment of the present application. Specifically, the device may include:

[0108] The magnetic induction receiving module 100 is configured to receive the magnetic induction of the electromagnetic field where the capsule endoscope 800 is located;

[0109] The current position acquiring module 200 is configured to acquire the current position of the capsule endoscope 800 according to the magnetic induction intensity;

[0110] The force acquisition module 300 is configured to acquire the force required to move the capsule endoscope 800 to the preset target position according to the current position of the capsule endoscope 800 and the preset target position;

[0111] The driving current applying module 400 is configur...

Embodiment 3

[0125] Such as Figure 8 As shown, it is a control flow chart of a method for controlling the suspension of the capsule endoscope 800 provided in the embodiment of the present application, through which the capsule endoscope 800 can be moved to a preset target position, and may include the following steps:

[0126] Step 1: Read the magnetic induction intensity of the electromagnetic field where the capsule endoscope 800 is located through the magnetic sensor;

[0127] Step 2: Calculate relevant data of the current position of the capsule endoscope 800 according to the magnetic induction intensity;

[0128] Step 3: The current position data of the capsule endoscope 800 is filtered by the Bagworth filter, and then transmitted to the PID controller; wherein, the stability of signal transmission can be increased after being filtered by the Bagworth filter.

[0129] Step 4: The PID controller calculates the magnetic force required to move the capsule endoscope 800 to the preset ta...

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Abstract

The embodiments of the invention provide a suspension control method and device for a capsule endoscope, and relate to the technical field of medical devices. The suspension control method comprises the steps that magnetic induction intensity of an electromagnetic field in which the capsule endoscope is located is received; a current position of the capsule endoscope is obtained according to the magnetic induction intensity; according to the current position and a preset target position of the capsule endoscope, the acting force required to move the capsule endoscope to the preset target position is obtained; and the magnitude of the magnetic induction intensity of the electromagnetic field is adjusted according to the acting force to enable the capsule endoscope to move to the preset target position. According to the suspension control method and device for the capsule endoscope, the suspension distance of the capsule endoscope is controlled by changing the acting force of the capsuleendoscope, and the problem that a better imaging effect cannot be obtained due to the fact that an existing method cannot control the distance between the capsule endoscope and the stomach wall is solved.

Description

technical field [0001] The present application relates to the technical field of medical devices, and in particular, to a suspension control method and device for a capsule endoscope. Background technique [0002] Most of the existing magnetically controlled capsule systems are based on the support of the gastric wall to detect gastric lesions. Based on this, the lens of the capsule endoscope will be imaged close to the gastric wall or away from the gastric wall. The former can image clearly, but the angle of view is relatively small; the latter is due to The distance from the gastric wall is too large, which leads to a far away from the optimal imaging distance, resulting in a decrease in image quality. Therefore, the existing magnetically controlled capsule system cannot control and adjust the distance between the capsule endoscope and the stomach wall, resulting in failure to obtain a better imaging effect. Contents of the invention [0003] The purpose of the embodime...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/273A61B1/04A61B1/00
CPCA61B1/041A61B1/2736A61B1/00158
Inventor 龚爱华柳全乐陶金城彭平平罗枰州
Owner BEIJING HUAGEN ANBANG TECH CO LTD
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