Magnetic control capsule endoscope driving method and device based on three-dimensional space and medium

Abstract

The invention relates to the technical field of medical instruments, in particular to a magnetic control capsule endoscope driving method and device based on a three-dimensional space and a medium. The method comprises the steps that based on the position relation between an external permanent magnet and the magnetic control capsule endoscope in a three-dimensional space and the relation of a rotating shaft during rotating driving, the relation between the magnetic force borne by the magnetic control capsule endoscope and the driving angle is determined by combining the relation between a magnetic field and the magnetic moment in a dipole model; based on stress analysis when the magnetic control capsule endoscope is driven by rotation of an external permanent magnet, horizontal direction force borne by the magnetic control capsule endoscope is determined, and the horizontal direction force is the difference between magnetic force and friction force in the horizontal direction; when the horizontal force is greater than or equal to zero, determining the range of a driving angle; and driving the magnetic control capsule endoscope based on the range of the driving angle. According to the invention, the magnetic control capsule endoscope is driven by the external permanent magnet in the determined driving angle range, so that the magnetic control capsule endoscope can be stably driven.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a three-dimensional space-based magnetically controlled capsule endoscope driving method, device and medium. Background Art

[0002] Recently, remotely controlled capsule robots have been explored for interventional surgery. Notably, magnetically controlled capsule robots (also called magnetically controlled capsule endoscopes) have shown great promise in navigating the complex intestine by applying remote magnetic fields. A magnetically controlled capsule endoscope is usually composed of a non-magnetized shell and a magnet. By applying a magnetic field externally, the magnetically controlled capsule endoscope can be guided to the desired position. Therefore, establishing the force model and dynamic model of the magnetically controlled capsule endoscope is crucial for accurately controlling and navigating the magnetically controlled capsule endoscope in the intestine.

[0003] At present, a large number of theoretical models and numerical analyses of magnetically controlled capsule endoscopes mainly focus on the application of uniform magnetic fields. However, the generation of uniform magnetic fields requires complex electromagnetic coils, which are limited by the size of the workspace, the strength of the magnetic field, and the efficiency of the cooling system. In contrast, permanent magnets, as an effective alternative, can generate strong magnetic fields in a larger workspace, providing higher driving force and operational freedom. Current research on the use of permanent magnets to generate magnetic fields to control and navigate magnetically controlled capsule endoscopes mainly focuses on the magnetic dragging strategy. Due to the directionality of the magnetic force, this strategy may cause the magnetically controlled capsule endoscope to generate excessive pulling force under the attraction of the permanent magnet, which may cause the capsule to be pulled toward the permanent magnet uncontrollably, thereby causing deformation of the tissue.

[0004] Therefore, using a rotating permanent magnet to generate a rotating magnetic field to drive a magnetically controlled capsule endoscope has become a current hot topic. This method reduces the impact of the distance change between the external permanent magnet and the magnetically controlled capsule endoscope on the driving effect through the action of magnetic force and torque. However, current experiments are mainly limited to verifying the fixed driving angle and propulsion force in two-dimensional space. Although this two-dimensional driving strategy is convenient for observing and analyzing the coupling between the permanent magnet and the magnetically controlled capsule endoscope. However, due to the complexity of the intestine in clinical operations, the fixed angle driving strategy is difficult to implement stably, so an effective and flexible driving strategy is challenging. Summary of the invention

[0005] In view of this, the present invention provides a three-dimensional space-based magnetically controlled capsule endoscope driving method, device and medium to solve the problem in the prior art that it is difficult to stably implement the magnetically controlled capsule endoscope driven by a fixed driving angle in two-dimensional space.

[0006] In the first aspect, the present invention provides a method for driving a magnetically controlled capsule endoscope based on three-dimensional space, the method comprising: determining the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope based on the positional relationship between an external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in a dipole model; determining the horizontal force exerted on the magnetically controlled capsule endoscope based on the force analysis when the magnetically controlled capsule endoscope is rotationally driven by an external permanent magnet, the horizontal force being the difference between the horizontal magnetic force and the friction force; determining the range of the driving angle when the horizontal force is greater than or equal to zero; and driving the magnetically controlled capsule endoscope based on the range of the driving angle.

[0007] In the present invention, the magnetic force of the external permanent magnet on the magnetically controlled capsule endoscope is analyzed in three-dimensional space to determine the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle, and then the force analysis of the magnetically controlled capsule endoscope is performed to determine the magnetic force that can drive the magnetically controlled capsule endoscope to move, and the range of the driving angle is further determined based on the relationship between the magnetic force and the driving angle. Therefore, the external permanent magnet drives the magnetically controlled capsule endoscope within the driving angle range, which can ensure that the magnetically controlled capsule endoscope is stably driven.

[0008] In an optional embodiment, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope is determined, including: determining the rotation axis of the external permanent magnet during rotational drive based on the rotation axis of the magnetically controlled capsule endoscope, and determining the magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determining the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope; determining the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle.

[0009] In an optional implementation, the driving angle includes a first driving angle and a second driving angle, and the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula:

[0010]

[0011] In the formula, F m represents the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F zThey represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a is the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0012] In an optional embodiment, based on a force analysis of the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, the horizontal force exerted on the magnetically controlled capsule endoscope is determined, including: performing a force analysis based on the magnetic force, friction force and gravity exerted on the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, and determining the z-axis force and y-axis force exerted on the magnetically controlled capsule endoscope, wherein the z-axis force is the difference between the magnetic force and gravity exerted on the magnetically controlled capsule endoscope in the z-axis direction, and the y-axis force is the magnetic force exerted on the magnetically controlled capsule endoscope in the y-axis direction; determining the friction force exerted on the magnetically controlled capsule endoscope based on the z-axis force, y-direction force and friction coefficient; determining the x-axis force exerted on the magnetically controlled capsule endoscope according to the difference between the magnetic force and friction force exerted on the magnetically controlled capsule endoscope in the x-axis direction, wherein the x-axis force is a horizontal force.

[0013] In an optional embodiment, the range of the driving angle is determined based on the horizontal force being greater than or equal to zero, including: based on the relationship between the magnetic force and the driving angle received by the magnetically controlled capsule endoscope, determining the range of the driving angle corresponding to the time when the difference between the magnetic force and the friction force received by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero.

[0014] In an optional embodiment, the magnetically controlled capsule endoscope is driven based on the range of the driving angle, including: determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; determining the acceleration of movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; determining the speed at the current moment based on the acceleration of movement at the current moment and the speed at the previous moment; determining the position of the magnetically controlled capsule endoscope at next moment based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

[0015] In an optional embodiment, the method also includes: determining the theoretical torque exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and a position vector; when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, determining the torque exerted on the magnetically controlled capsule endoscope based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0016] In a second aspect, the present invention provides a magnetically controlled capsule endoscope driving device based on three-dimensional space, the device comprising: a rotational driving module, for determining the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope based on the positional relationship between an external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational driving, combined with the relationship between the magnetic field and the magnetic moment in a dipole model; a force analysis module, for determining the horizontal force exerted on the magnetically controlled capsule endoscope based on the force analysis when the magnetically controlled capsule endoscope is rotationally driven by an external permanent magnet, the horizontal force being the difference between the horizontal magnetic force and the friction force; a driving angle determination module, for determining the range of the driving angle when the horizontal force is greater than or equal to zero; and a driving module, for driving the magnetically controlled capsule endoscope based on the range of the driving angle.

[0017] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the three-dimensional space-based magnetically controlled capsule endoscope driving method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0019] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic flow chart of a three-dimensional space-based magnetically controlled capsule endoscope driving method according to an embodiment of the present invention;

[0022] FIG2( a ) is a schematic diagram of the force relationship of a magnetically controlled capsule endoscope under a three-dimensional space rotation driving strategy according to an embodiment of the present invention;

[0023] FIG2( b ) is a schematic diagram of the force relationship of the yz plane deflection angle β under the three-dimensional space rotation driving strategy according to an embodiment of the present invention;

[0024] Figure 3(a) to Figure 3(c) is a schematic diagram of magnetic force variation under different driving angles α and β according to an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of the relationship between the friction force and the driving angle of a magnetically controlled capsule endoscope according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the relationship between the driving capability and the driving angle of a magnetically controlled capsule endoscope according to an embodiment of the present invention;

[0027] Figure 6 is a structural block diagram of a three-dimensional space-based magnetically controlled capsule endoscope driving device according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] According to an embodiment of the present invention, an embodiment of a magnetically controlled capsule endoscope driving method based on three-dimensional space is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] In this embodiment, a three-dimensional space-based magnetically controlled capsule endoscope driving method is provided, which can be used in electronic devices such as computers, mobile phones, tablet computers, etc. Figure 1 is a flow chart of a method for driving a magnetically controlled capsule endoscope based on three-dimensional space according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0032] Step S101, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, determine the relationship between the magnetic force and the driving angle on the magnetically controlled capsule endoscope.

[0033] First of all, it should be noted that the driving method is used for driving in three-dimensional space. That is, the external permanent magnet and the magnetically controlled capsule endoscope are not on the same horizontal plane, or there are deviations between the external permanent magnet and the center of the magnetically controlled capsule endoscope in the horizontal, vertical and longitudinal directions. For example, if a spatial rectangular coordinate system is established with the center of the magnetically controlled capsule endoscope as the center of the circle, the x-axis coordinate, y-axis coordinate and z-axis coordinate of the center coordinate of the magnetically controlled capsule endoscope and the center coordinate of the external permanent magnet may be different.

[0034] Secondly, the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope specifically refers to the relative positional relationship between the two. In addition, the rotation axis refers to an imaginary straight line around which the permanent magnet rotates. This straight line usually passes through the geometric center of the permanent magnet and is perpendicular to the magnetic moment direction of the permanent magnet. The rotation axis here includes the rotation axis of the external permanent magnet and the rotation axis of the magnetically controlled capsule endoscope. When the external permanent magnet rotates to drive the magnetically controlled capsule endoscope, the rotation axes of the two need to satisfy a certain relationship so that the external permanent magnet generates a rotating magnetic field at the position of the magnetically controlled capsule endoscope, thereby realizing rotational drive. At the same time, it can be understood that rotational drive includes operation in two directions of rotation and translation, wherein rotation refers to the rotation of the magnetically controlled capsule endoscope around a certain axis (rotational axis) of itself under the action of the magnetic field generated by the external permanent magnet, and translation refers to the magnetically controlled capsule endoscope moving forward or backward along the axis of the part to be inspected, such as the intestine, under the action of the magnetic field generated by the external permanent magnet.

[0035] In addition, in the magnetically controlled capsule endoscope, the permanent magnet in the capsule can be regarded as a magnetic dipole, so the dipole model can be used to determine the magnetic field and magnetic moment applied by the external permanent magnet on the magnetically controlled capsule endoscope in combination with the magnetic moment of the external permanent magnet. Therefore, the magnetic force on the magnetically controlled capsule endoscope can be determined in combination with the relative position of the external permanent magnet and the magnetically controlled capsule endoscope, the magnetic moment of the external permanent magnet, and the magnetic moment of the magnetically controlled capsule endoscope. Further, the driving angle can be understood as the angle generated by the positional relationship between the two when the external permanent magnet rotates to drive the magnetically controlled capsule endoscope to move. Therefore, the driving angle can be used to represent the relative position of the two. Combined with the relationship between the magnetic force and the relative position of the magnetically controlled capsule endoscope, the relationship between the magnetic force and the driving angle can be determined.

[0036] Step S102, based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet for rotation, the horizontal force on the magnetically controlled capsule endoscope is determined, where the horizontal force is the difference between the horizontal magnetic force and the friction force. Specifically, when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, it will be affected by magnetic force, gravity and friction force, where the friction force is the friction force between the magnetically controlled capsule endoscope and the intestine when it moves in the part to be inspected, such as the intestine. Then, a force analysis can be performed based on the magnetic force, gravity and friction force, and the force can be decomposed, so that the force on the magnetically controlled capsule endoscope in the horizontal direction, that is, the horizontal force, can be obtained.

[0037] Step S103, determining the range of the driving angle based on the horizontal force being greater than or equal to zero. Specifically, if the magnetically controlled capsule endoscope is to be driven by an external permanent magnet to move, the horizontal force on the magnetically controlled capsule endoscope needs to be greater than or equal to zero, that is, the horizontal magnetic force is greater than or equal to the maximum static friction force (here, the sliding friction force can be used for calculation). Thus, the range of the driving angle corresponding to the horizontal magnetic force being greater than the maximum static friction force can be determined based on the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle.

[0038] Step S104, driving the magnetically controlled capsule endoscope based on the range of the driving angle. Specifically, after the range of the driving angle is determined, in practical applications, the driving angle can be kept within the range to drive the magnetically controlled capsule endoscope with the external permanent magnet, thereby ensuring that the magnetically controlled capsule endoscope is stably driven.

[0039] The driving method of the magnetically controlled capsule endoscope provided in the embodiment of the present invention analyzes the magnetic force of the external permanent magnet on the magnetically controlled capsule endoscope in three-dimensional space to determine the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle, then performs force analysis on the magnetically controlled capsule endoscope to determine the magnetic force that can drive the magnetically controlled capsule endoscope to move, and further determines the range of the driving angle based on the relationship between the magnetic force and the driving angle. Thus, the external permanent magnet drives the magnetically controlled capsule endoscope within the driving angle range, which can ensure that the magnetically controlled capsule endoscope is stably driven.

[0040] In this embodiment, a method for driving a magnetically controlled capsule endoscope based on three-dimensional space is provided, and the process includes the following steps:

[0041] Step S201, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, determine the relationship between the magnetic force and the driving angle on the magnetically controlled capsule endoscope.

[0042] Specifically, the above step S201 includes:

[0043] Step S2011, determining the rotation axis of the external permanent magnet during rotational driving based on the rotation axis of the magnetically controlled capsule endoscope, and determining the magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; Specifically, in order to facilitate the analysis of the magnetically controlled capsule endoscope, this embodiment establishes a spatial rectangular coordinate system with the center of the magnetically controlled capsule endoscope as the origin, as shown in FIG. 2( a), and the origin of the spatial rectangular coordinate system is P c The center of the external permanent magnet is denoted as P a Assuming that the magnetically controlled capsule endoscope and the external permanent magnet have an ideal rotation axis The initialization direction is aligned with the +x axis, where Available θ cy ,θ cz express:

[0044]

[0045] Where Rot represents rotation, θ cy It represents the angle of deflection along the Y axis in the XZ plane when the magnetically controlled capsule endoscope rotates around the rotation axis, θ cz It indicates the deflection angle along the Z axis in the XY plane when the magnetically controlled capsule endoscope rotates around the rotation axis.

[0046] At the same time, in order to c Surrounded by The rotating magnetic field is generated at the external permanent magnet. It can be calculated using the following formula:

[0047]

[0048] In the formula, I3 represents the unit matrix, express The unit vector of the direction, The direction represents the relative position of the external permanent magnet and the magnetically controlled capsule endoscope.

[0049] Furthermore, if the magnetic moment of the external permanent magnet The unit vector initialization direction is parallel to the +z axis, and θ ax is the magnetic moment Rotate around its axis During rotation, the angle of deflection along the X-axis in the YZ plane is It can be calculated as:

[0050]

[0051] In the formula, θ ay is the magnetic moment Rotate around its axis During rotation, the angle of deflection along the Y axis in the XZ plane, θ azis the magnetic moment Rotate around its axis During rotation, the angle of deflection along the Z axis in the XY plane.

[0052] Step S2012, determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope determined by the dipole model and the magnetic moment of the external permanent magnet and the rotation axis of the magnetically controlled capsule endoscope. a || represents the magnitude of the magnetic moment of the external permanent magnet. Based on the dipole model, the magnetic field applied to the magnetically controlled capsule endoscope can be calculated using the following formula:

[0053]

[0054] Where μ0 represents the spatial magnetic permeability.

[0055] Furthermore, the magnetic moment of the magnetically controlled capsule endoscope The calculation is done using the following formula:

[0056]

[0057] Step S2013, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope, the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope is determined; specifically, as shown in FIG. 2(a) and FIG. 2(b), point N is the center P of the external permanent magnet. a The rotation axis of the magnetically controlled capsule endoscope The projection point on a The line connecting point N and the rotation axis of the magnetically controlled capsule endoscope Vertically, from point P a , point N and point P c The plane in which it lies is denoted as plane U. represents the relative position vector between the external permanent magnet and the magnetically controlled capsule endoscope, The angle between the U plane and the normal vector U is the first driving angle α. The angle between the external permanent magnet and the magnetically controlled capsule endoscope is d, so Assumptions The initialization unit vector is (0 0 -1) T , and with α, β, θ cy ,θ cz Rotate to get the actual Unit vector:

[0058]

[0059] Furthermore, if the center point P of the external permanent magnet aThe projection of (0,y,z) on the z-axis is (0,0,z), r m for Projection on the XZ plane, l is P a The distance to point O satisfies thus, It can be expressed as:

[0060]

[0061] Step S2014, based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle, the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle is determined. Specifically, the external permanent magnet generates a magnetic field in space, which acts on the internal permanent magnet of the magnetically controlled capsule endoscope to generate a magnetic force F m and torque T m .

[0062]

[0063] T m =μ0m a ×H

[0064] Where μ0 is the spatial magnetic permeability, m a is the dipole moment of the permanent magnet inside the magnetically controlled capsule endoscope, and H is the magnetic field generated by the external permanent magnet.

[0065] Based on this, as well as the magnetic moment of the external permanent magnet and the magnetic moment of the magnetically controlled capsule endoscope, the magnetic force on the magnetically controlled capsule endoscope can be obtained as:

[0066]

[0067] Then, according to the relationship between the above position vector and the driving angle, the magnetic force of the magnetically controlled capsule endoscope can be expressed by the following formula:

[0068]

[0069] In the formula, F m represents the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F z They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a is the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0070] Step S202 , based on the force analysis of the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined, where the horizontal force is the difference between the horizontal magnetic force and the friction force.

[0071] Specifically, the above step S202 includes:

[0072] Step S2021, based on the magnetic force, friction force and gravity that the magnetically controlled capsule endoscope is subjected to when it is driven by the external permanent magnet for rotation, a force analysis is performed to determine the z-axis force and the y-axis force that the magnetically controlled capsule endoscope is subjected to, wherein the z-axis force is the difference between the magnetic force and the gravity that the magnetically controlled capsule endoscope is subjected to in the z-axis direction, and the y-axis force is the magnetic force that the magnetically controlled capsule endoscope is subjected to in the y-axis direction; specifically, when the magnetically controlled capsule endoscope is driven by the external permanent magnet for rotation, the force that it is subjected to in the intestine is as follows: Figure 1 , expressed as:

[0073]

[0074] In the formula, F m is the magnetic force on the magnetically controlled capsule endoscope, F f is the friction force, F G is gravity. m ce is the mass of the magnetically controlled capsule endoscope, and a is the acceleration in the horizontal direction.

[0075] The force on the magnetically controlled capsule endoscope is divided into the z-axis force F z , x-axis force F x and the force F in the y-axis direction y :

[0076] ∑F z =F mz -F G

[0077] ∑F y =F my

[0078] ∑F x =F mx -F f =m ce a

[0079] Step S2022, determining the friction force of the magnetically controlled capsule endoscope based on the z-axis direction force, the y-axis direction force and the friction coefficient; specifically, according to the relationship between the forces in each direction, the friction force can be calculated using the following formula:

[0080]

[0081] Step S2023, determining the x-axis force on the magnetically controlled capsule endoscope according to the difference between the magnetic force and the friction force on the magnetically controlled capsule endoscope in the x-axis direction, where the x-axis force is a horizontal force. Specifically, substituting the friction force into the x-axis force, the x-axis force can be expressed as:

[0082]

[0083] Step S203, determining the range of the driving angle based on the horizontal force being greater than or equal to zero;

[0084] Specifically, the above step S203 includes:

[0085] Step S2031, based on the relationship between the magnetic force and the driving angle received by the magnetically controlled capsule endoscope, determine the range of the driving angle corresponding to when the difference between the magnetic force and the friction force received by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero; specifically, in order for the magnetically controlled capsule endoscope to be driven, the magnetic force in the horizontal direction of the magnetically controlled capsule endoscope is greater than or equal to the maximum static friction force, that is, the following formula must be satisfied:

[0086]

[0087] At the same time, by combining the above relationship between the magnetic force and the driving angle and substituting it into the formula, the corresponding ranges of the driving angles α and β can be obtained.

[0088] Step S204: driving the magnetically controlled capsule endoscope based on the range of the driving angle.

[0089] Specifically, the above step S204 includes:

[0090] Step S2041, determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; specifically, when driving the magnetically controlled capsule endoscope, a driving angle that satisfies two driving angle ranges can be selected within the range of the driving angle, and based on the current positional relationship between the magnetic capsule endoscope and the external permanent magnet, the relationship between the magnetic force and the driving angle is brought into the relationship to obtain the magnetic force on the magnetically controlled capsule endoscope at the current moment, and the horizontal force on the magnetically controlled capsule endoscope is determined in combination with the horizontal magnetic force in the magnetic force and the friction force.

[0091] Step S2042, determining the acceleration of the movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope and the mass of the magnetically controlled capsule endoscope at the current moment; specifically, the acceleration a(t) of the movement at the current moment can be calculated using the following formula:

[0092] a(t)=F ∥ (t) / m ce

[0093] In the formula, F ∥ (t) is the horizontal force acting on the magnetically controlled capsule endoscope.

[0094] Step S2043, determining the speed at the current moment based on the acceleration of the movement at the current moment and the speed at the previous moment; specifically, the speed at the current moment can be calculated using the following formula:

[0095] v(t)=∫a(t)dt+v0

[0096] In the formula, v0 represents the speed at the previous moment, and v(t) represents the speed at the current moment. It should be noted that the speed at the initial moment is zero.

[0097] Step S2044, based on the current speed and the current position of the magnetically controlled capsule endoscope, determine the position of the magnetically controlled capsule endoscope at the next moment. Specifically, the position s(t) of the magnetically controlled capsule endoscope at the next moment can be calculated using the following formula:

[0098] s(t)=∫v(t)dt+s0

[0099] In the formula, s0 represents the position at the initial moment.

[0100] In this embodiment, a method for driving a magnetically controlled capsule endoscope based on three-dimensional space is provided, and the method comprises the following steps:

[0101] Step S301, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, determine the relationship between the magnetic force and the driving angle on the magnetically controlled capsule endoscope; see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0102] Step S302, based on the force analysis of the magnetically controlled capsule endoscope when it is driven by the external permanent magnet, determine the horizontal force on the magnetically controlled capsule endoscope, where the horizontal force is the difference between the horizontal magnetic force and the friction force; for details, see Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0103] Step S303, when the horizontal force is greater than or equal to zero, determine the range of the driving angle; see Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0104] Step S304: drive the magnetically controlled capsule endoscope based on the range of the driving angle. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0105] Step S305, determining the theoretical torque exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the position vector; when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, determining the torque exerted on the magnetically controlled capsule endoscope based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0106] Specifically, based on the analysis of step S2014 in the previous embodiment, the theoretical torque on the magnetically controlled capsule endoscope is expressed as:

[0107]

[0108] In actual applications, the torque applied by the rotation of the external permanent magnet drives the magnetically controlled capsule endoscope with a threaded shell to rotate synchronously, and the friction between the threaded shell and the intestine generates a friction torque. Based on this, the torque on the magnetically controlled capsule endoscope is expressed as:

[0109] |T ce |=|T m |-|T f |=Jε

[0110] Where J is the moment of inertia, ε is the angular acceleration during rotation, T f is the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0111] As a specific application example of the embodiment of the present invention, a simulation analysis may be performed based on the above-mentioned three-dimensional space-based magnetically controlled capsule endoscope driving method.

[0112] First, based on the determined range of the drive angle, the relationship between the drive angle and the magnetic force can be analyzed. For example, When β=(0°~50°), α=(0°~50°), the magnetic force acting on the magnetically controlled capsule endoscope changes as shown in FIG3(a), FIG3(b) and FIG3(c).

[0113] The magnetic force in the X-axis direction in Figure 3 (a) shows a typical trend of increasing first and then decreasing, especially when the driving angle α reaches about 21°, the X-axis magnetic force reaches a peak value, and the change of the β angle has no significant effect on the peak position. The magnetic force in the Y-axis direction in Figure 3 (b) shows a decreasing trend with the increase of the α angle, and the magnetic force in the Y-axis direction reaches its maximum value when the β angle is close to 31°. When the β angle increases in the range of 0° to 31°, the magnetic force in the Y-axis direction gradually increases, but when the β angle exceeds 31°, the magnetic force in the Y-axis direction begins to weaken. This shows that the influence of the β angle on the magnetic force in the Y-axis direction is much greater than that on the X-axis. In actual operation, the magnetic force in the Y-axis direction can be effectively controlled by adjusting the β angle, especially to obtain the maximum Y-direction magnetic force at around 31°. The magnetic force in the Z-axis direction in Figure 3 (c) is relatively simple. As the β angle increases, the magnetic force in the Z-axis direction gradually decreases, and when α = 21° and β = 31° are near, the magnetic force in the Z-axis direction is almost zero. This indicates that under this angle combination, the force in the Z-axis direction hardly participates in the movement of the capsule endoscope, and the force of the system is mainly concentrated in the X-axis and Y-axis directions.

[0114] Since the capsule endoscope moves in the X-axis direction and rotates in the Y-axis and Z-axis directions at the same time, the influence of sliding friction in the system on the movement cannot be ignored. Especially in the Y-axis and Z-axis directions, the interaction between friction and magnetic force determines whether the capsule can overcome the resistance of the inner wall of the pipe and maintain smooth progress.

[0115] Secondly, the relationship between the driving angle and the friction force can be analyzed. Based on the relationship between the friction force and the driving angle of the magnetically controlled capsule endoscope shown in the figure, the horizontal friction force is calculated. Assume that the magnetically controlled capsule endoscope F G =0.7mN, the variation trend of horizontal friction force with driving angle α under different driving angles β, as shown in Figure 4 . It can be seen that when the angle β is less than 30°, the friction force shows a trend of first decreasing and then increasing with the increase of the driving angle α, forming an obvious trough. This trend is related to the vertical magnetic force of the magnetically controlled capsule endoscope in the Z-axis direction. When the driving α is around 23°, the magnetic force of the magnetically controlled capsule endoscope in the Z-axis direction just offsets the gravity of the capsule endoscope, making its vertical force zero. Therefore, at this angle, the friction force reaches the lowest value.

[0116] In addition, the change of β angle has a significant effect on friction, especially when β angle is less than 30°. When β angle gradually increases to 30°, friction begins to increase and no longer shows a trough trend. This is consistent with the previous analysis that the magnetic force in the Y-axis direction reaches its maximum value at around β = 31°. In other words, when the β angle is close to 31°, the magnetic force in the Y-axis direction is enhanced, thereby increasing the horizontal friction, which becomes more obvious after the β angle exceeds 30°. The simulation results provide a theoretical basis for subsequent experiments, which can find the appropriate α and β angle ranges to ensure that the capsule endoscope can overcome gravity and friction in the intestinal environment.

[0117] Thirdly, the driving position range in three-dimensional space can also be analyzed. When analyzing, the horizontal magnetic force F is calculated specifically. x Greater than or equal to sliding friction F f Under these conditions, the relationship between the driving angles α and β in three-dimensional space is as follows: Figure 5 As shown in the figure, the two curves in the figure respectively represent the minimum and maximum values ​​of the driving angle α under different driving angles β. The highlighted area in the figure indicates the driving angle α range within which the magnetically controlled capsule endoscope can be started from a stationary state and switched to a moving state when the driving angle β is in the range of 0° to 45°. As the driving angle β increases, the driving angle α range that can drive the magnetically controlled capsule endoscope gradually decreases. When β>45°, the driving effect will not be sufficient to drive the capsule endoscope. Therefore, in Figure 5 Any combination of α and β within the area of ​​medium and high light can effectively drive the movement of the magnetically controlled capsule endoscope.

[0118] In this embodiment, a magnetically controlled capsule endoscope driving device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made are not repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0119] This embodiment provides a three-dimensional magnetically controlled capsule endoscope driving device. Figure 6 As shown, including:

[0120] The rotation driving module 61 is used to determine the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope based on the position relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotation driving, combined with the relationship between the magnetic field and the magnetic moment in the dipole model;

[0121] A force analysis module 62 is used to determine the horizontal force exerted on the magnetically controlled capsule endoscope based on the force analysis when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, where the horizontal force is the difference between the horizontal magnetic force and the friction force;

[0122] A driving angle determination module 63, used to determine a range of the driving angle when the horizontal force is greater than or equal to zero;

[0123] The driving module 64 is used to drive the magnetically controlled capsule endoscope based on the range of the driving angle.

[0124] In an optional embodiment, the rotational drive module is specifically used to: determine the rotation axis of the external permanent magnet during rotational drive based on the rotation axis of the magnetically controlled capsule endoscope, and determine the magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; determine the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determine the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on the position relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope; determine the relationship between the magnetic force acting on the magnetically controlled capsule endoscope and the driving angle based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle.

[0125] In an optional implementation, the driving angle includes a first driving angle and a second driving angle, and the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula:

[0126]

[0127] In the formula, F m represents the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F z They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a is the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0128] In an optional embodiment, the force analysis module is specifically used to: perform force analysis based on the magnetic force, friction force and gravity that the magnetically controlled capsule endoscope is subjected to when it is rotationally driven by an external permanent magnet, and determine the z-axis force and y-axis force that the magnetically controlled capsule endoscope is subjected to, where the z-axis force is the difference between the magnetic force and gravity that the magnetically controlled capsule endoscope is subjected to in the z-axis direction, and the y-axis force is the magnetic force that the magnetically controlled capsule endoscope is subjected to in the y-axis direction; determine the friction force that the magnetically controlled capsule endoscope is subjected to based on the z-axis force, y-direction force and friction coefficient; determine the x-axis force that the magnetically controlled capsule endoscope is subjected to according to the difference between the magnetic force and friction force that the magnetically controlled capsule endoscope is subjected to in the x-axis direction, where the x-axis force is a horizontal force.

[0129] In an optional embodiment, the range of the driving angle is determined based on the horizontal force being greater than or equal to zero, including: based on the relationship between the magnetic force and the driving angle received by the magnetically controlled capsule endoscope, determining the range of the driving angle corresponding to the time when the difference between the magnetic force and the friction force received by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero.

[0130] In an optional embodiment, the magnetically controlled capsule endoscope is driven based on the range of the driving angle, including: determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; determining the acceleration of movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; determining the speed at the current moment based on the acceleration of movement at the current moment and the speed at the previous moment; determining the position of the magnetically controlled capsule endoscope at next moment based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

[0131] In an optional embodiment, the device also includes: a torque determination module, which is specifically used to determine the theoretical torque exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and a position vector; when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, the torque exerted on the magnetically controlled capsule endoscope is determined based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0132] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0133] The embodiment of the present invention also provides a computer device having the above Figure 6 The three-dimensional space-based magnetically controlled capsule endoscope driving device is shown.

[0134] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0135] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0136] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0137] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0138] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0139] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0140] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0141] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0142] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for driving a magnetically controlled capsule endoscope based on three-dimensional space, characterized in that: The method comprises: Based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope is determined. Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined, where the horizontal force is the difference between the horizontal magnetic force and the friction force; Determining the range of the driving angle based on the horizontal force being greater than or equal to zero; The magnetically controlled capsule endoscope is driven based on the range of the driving angle.

2. The method according to claim 1, characterized in that Based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope is determined, including: Determining the rotation axis of the external permanent magnet during rotational driving based on the rotation axis of the magnetically controlled capsule endoscope, and determining the magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; Determine the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determining a relationship between a position vector and a driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on a positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and a magnetic moment of the magnetically controlled capsule endoscope; The relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle is determined based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle.

3. The method according to claim 1, characterized in that The driving angle includes a first driving angle and a second driving angle. The relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope is expressed by the following formula: In the formula, F m represents the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F z They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a is the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, r represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

4. The method according to claim 1, characterized in that: Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined, including: Based on the force analysis of the magnetic force, friction force and gravity that the magnetically controlled capsule endoscope is subjected to when it is driven by an external permanent magnet, the z-axis force and y-axis force that the magnetically controlled capsule endoscope is subjected to are determined. The z-axis force is the difference between the magnetic force and gravity that the magnetically controlled capsule endoscope is subjected to in the z-axis direction, and the y-axis force is the magnetic force that the magnetically controlled capsule endoscope is subjected to in the y-axis direction. Determine the friction force on the magnetically controlled capsule endoscope based on the z-axis direction force, the y-axis direction force and the friction coefficient; The x-axis force on the magnetically controlled capsule endoscope is determined according to the difference between the magnetic force and the friction force on the magnetically controlled capsule endoscope in the x-axis direction, and the x-axis force is a horizontal force.

5. The method according to claim 4, characterized in that When the horizontal force is greater than or equal to zero, determining the range of the driving angle includes: Based on the relationship between the magnetic force and the driving angle received by the magnetically controlled capsule endoscope, a range of the driving angle corresponding to when the difference between the magnetic force and the friction force received by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero is determined.

6. The method according to claim 1, characterized in that Driving a magnetically controlled capsule endoscope based on the range of the driving angle includes: Determine the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; Determine the acceleration of the movement at the current moment based on the horizontal force exerted on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; Determine the current speed based on the acceleration of the current movement and the speed at the previous moment; The position of the magnetically controlled capsule endoscope at the next moment is determined based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

7. The method according to claim 2, characterized in that The method further comprises: Determine the theoretical torque on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope and the position vector; When the magnetically controlled capsule endoscope is driven to rotate in the intestine by an external permanent magnet, the torque applied to the magnetically controlled capsule endoscope is determined based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

8. A three-dimensional magnetically controlled capsule endoscope driving device, characterized in that: The device comprises: A rotation drive module is used to determine the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotation drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model; A force analysis module, used to determine the horizontal force exerted on the magnetically controlled capsule endoscope based on the force analysis when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, wherein the horizontal force is the difference between the horizontal magnetic force and the friction force; A driving angle determination module, used for determining the range of the driving angle based on the horizontal force being greater than or equal to zero; A driving module is used to drive the magnetically controlled capsule endoscope based on the range of the driving angle.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the three-dimensional space-based magnetically controlled capsule endoscope driving method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method according to any one of claims 1 to 7.

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