Capsule control device, magnetically controlled capsule endoscope movement control system and method

Abstract

The present invention proposes a capsule control device and a magnetically controlled capsule endoscope motion control system. The system comprises a magnetically controlled capsule and a magnetic field control console. The magnetically controlled capsule comprises a capsule body equipped with a first magnet and a capsule controller disposed within the capsule body. The magnetic field control console comprises a magnetic field controller, a robotic arm motion control unit, and a movable robotic arm with a second magnet disposed at its free end. The robotic arm motion control unit is connected to the movable robotic arm, and the capsule controller and magnetic field controller are connected via a wireless communication unit for mutual communication. The magnetic field controller has a control output connected to a drive unit, which is connected to the movable robotic arm. A magnetic induction module is disposed within the capsule endoscope and is connected to the capsule controller. The magnetically controlled capsule endoscope motion control system has a simple structure. The magnetic field controller controls the drive unit to drive the movable robotic arm according to a predetermined motion trajectory, and the magnetic induction module detects in real time whether the magnetically controlled capsule is under control.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a capsule control device, a magnetically controlled capsule endoscope movement control system and a method. Background Art

[0002] The controllable capsule endoscope system is composed of a controllable capsule endoscope, a magnetic field controller and an image recorder. The controllable capsule endoscope is composed of an optical front cover, a rear shell, a magnet, an antenna, a radio frequency module, a magnetic induction module, a signal processing module, an image acquisition module and a battery.

[0003] The external structure of the magnetic field console consists of an examination bed, a support column, a control magnet, a movable robotic arm, a display screen, a control handle and a trolley body; the circuit consists of a control module, a drive module, a signal processing module, a radio frequency module, an antenna, a display module, a storage module and a power module.

[0004] Existing technology uses magnetic effects to control the capsule. A magnetic induction module on the capsule senses the strength of the surrounding magnetic field and transmits this data to a control console. The operator then adjusts the operation mode based on the magnetic control data displayed on the console. The control magnet is mounted on a movable robotic arm. The drive module drives the arm's movement; the control module controls the entire system, including its direction and height. The antenna, radio frequency module, and signal processing module communicate with the capsule. The display module displays images captured by the capsule in real time. The storage module stores image data; and the power module provides power to the entire system.

[0005] In actual use, the magnetically controlled capsule may fail to be controlled by the magnet, meaning it escapes the control of the magnetic field controller. Once the capsule fails to be controlled, the operator must manually adjust the position and height of the movable robotic arm to return to the location where it was previously thought to have lost control and retrieve the magnetically controlled capsule. This process of retrieving the capsule requires repeated searching, which is time-consuming due to the low accuracy of manual retrieval.

[0006] The patent document with application number CN201810083630.8 and titled "A system and method for searching a capsule endoscope in a digestive cavity" discloses a system and method for searching a magnetically controlled capsule in a digestive cavity. However, this only focuses on how to quickly find the magnetically controlled capsule after the patient swallows the capsule. It does not involve how to effectively control the capsule during the magnetic control process, or how to retrieve the capsule when it loses control. Summary of the Invention

[0007] In order to overcome the above-mentioned defects in the prior art, the purpose of the present invention is to provide a capsule control device, a magnetically controlled capsule endoscope movement control system and a method.

[0008] In order to achieve the above-mentioned objectives of the present invention, the present invention provides a capsule control device based on magnetic field detection, including a magnetic control capsule and a magnetic field control console. A magnetic induction module is arranged in the magnetic control capsule, and a control module is arranged on the magnetic field control console. The magnetic induction module detects the magnetic field strength at the position of the magnetic control capsule and transmits it to the control module. The control module controls the magnetic field control console to move in the direction of increasing, maintaining or decreasing the magnetic field at the position of the capsule according to the magnetic field strength detection signal.

[0009] The capsule control device has a simple structure. It controls the magnetic field control console to move in the direction of increasing, maintaining or decreasing the magnetic field at the location of the capsule according to the magnetic field strength at the location of the magnetically controlled capsule by the magnetic induction module, thereby facilitating the positioning and search of the capsule in the body.

[0010] The present invention also proposes a magnetically controlled capsule endoscope movement control system, comprising a magnetically controlled capsule and a magnetic field control console, wherein the magnetically controlled capsule comprises a capsule body provided with a first magnet and a capsule controller provided in the capsule body, and the magnetic field control console comprises a magnetic field controller, a mechanical arm movement control unit, and a movable mechanical arm having a second magnet provided at a free end, wherein the mechanical arm movement control unit is connected to the movable mechanical arm and can manually control the movement of the movable mechanical arm, and the capsule controller and the magnetic field controller are connected to each other via a wireless communication unit for mutual communication; a control output end of the magnetic field controller is connected to a drive unit, and the drive unit is connected to the movable mechanical arm and can automatically control the movement of the movable mechanical arm;

[0011] The capsule endoscope is provided with a magnetic induction module, which is connected to the capsule controller and sends magnetic field strength information to the capsule controller and then to the magnetic field controller via the wireless communication module.

[0012] The magnetically controlled capsule endoscope movement control system has a simple structure. The movable robotic arm can be manually controlled to move, or the magnetic field controller can control the drive unit to drive the movable robotic arm to move according to a set movement trajectory. The magnetic induction module detects in real time whether the magnetically controlled capsule is under control.

[0013] Furthermore, it also includes a retrieval instruction input unit, which is connected to the magnetic field controller and sends a retrieval instruction to the magnetic field controller. After receiving the instruction, the magnetic field controller controls the movement of the movable robotic arm.

[0014] When the magnetic control capsule is lost or out of control, a retrieval command is input through the retrieval command input unit, and the magnetic field controller controls the driving unit to drive the movable robotic arm to move, and retrieves the magnetic control capsule according to the strength of the magnetic field intensity information collected by the magnetic induction module.

[0015] Furthermore, the retrieval instruction input unit is a voice collection unit and / or a retrieval switch;

[0016] The output end of the voice collection unit is connected to the magnetic field controller, and sends voice information to the magnetic field controller. The magnetic field controller recognizes the voice information, and if it is a retrieval instruction, the magnetic field controller controls the movable manipulator to move;

[0017] One end of the retrieval switch is connected to the positive pole of the power supply, and the other end is connected to the input end of the magnetic field controller. When the retrieval switch is closed, the magnetic field controller controls the movable mechanical arm to move.

[0018] Furthermore, the robotic arm movement control unit includes a movement handle and / or button.

[0019] Furthermore, the device includes an alarm unit connected to the magnetic field controller. When the magnetic field strength information received by the magnetic field controller is less than a magnetic field strength threshold, the magnetic field controller controls the alarm unit to issue a capsule uncontrolled alarm. This allows the operator to promptly inform the operator whether the magnetically controlled capsule is under control.

[0020] The present invention also proposes a control method based on the above-mentioned magnetically controlled capsule endoscope movement control system, comprising the following steps:

[0021] S1, the operator operates the manipulator movement control unit on the console of the magnetically controlled capsule endoscopy system to control the movement of the movable manipulator arm, and controls the movement of the capsule through the magnetic force between the movable manipulator arm and the capsule endoscope;

[0022] S2, the magnetic induction module collects magnetic field strength information in real time and sends it to the magnetic field controller;

[0023] S3, when the operator finds that the capsule endoscope is out of control, the operator issues a retrieval command through the retrieval command input unit;

[0024] S5. After receiving the retrieval instruction, the magnetic field controller marks the current position of the movable robotic arm, and then controls the driving module to move the movable robotic arm in any direction of the X, Y or Z axis. After the movement, if the magnetic field strength information obtained by the magnetic field controller changes from weak to strong, it means that the movement direction is correct, and the magnetic field controller continues to control the robotic arm to move in this direction until the capsule is controlled and the magnetic field information returns to a stable level; if the magnetic field strength information does not change or becomes smaller when moving in this direction, it means that the movement direction is wrong, and the magnetic field controller controls the movable robotic arm to return to the marked position. After the movable robotic arm returns to its position, the magnetic field controller controls the movable robotic arm to move in another direction to detect whether the magnetic field size changes, and so on, until it moves to the correct direction and the capsule is controlled.

[0025] This method uses a magnetic field sensor to detect changes in the magnitude of the control magnetic field to determine whether the capsule is still under control. If the capsule is lost, the operator no longer needs to manually adjust the posture and height of the movable robotic arm. Instead, they can simply input a retrieval command through the retrieval command input unit. The magnetic field controller automatically controls the movable robotic arm's movement and then detects changes in the magnetic field to restore control of the capsule, reducing the operator's search and operation difficulty.

[0026] Furthermore, in step S3, the operator detects that the capsule endoscope is out of control by comparing the received magnetic field strength information with a magnetic field strength threshold. If the received magnetic field strength information is less than the magnetic field strength threshold, the operator determines that the capsule endoscope is out of control. This allows the operator to promptly and accurately detect that the magnetically controlled capsule is out of control.

[0027] Furthermore, when the operator operates the manipulator movement control unit to control the movement of the movable manipulator, the magnetic field controller records the movement trajectory of the movable manipulator;

[0028] When the magnetic field intensity collected at time t becomes smaller than the magnetic field intensity collected at time t-1, and the change value is greater than the set magnetic field change threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A;

[0029] Alternatively, when the collected magnetic field intensity is less than the set magnetic field intensity threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A;

[0030] When the operator finds that the capsule is lost and issues a retrieval command, the position of the movable robotic arm at this time is recorded as point B. The magnetic field controller extracts the movable robotic arm's movement trajectory from point A to point B from the movable robotic arm's movement trajectory, that is, the magnetic control capsule deviates from the trajectory;

[0031] The magnetic field controller, through the drive unit, controls the movable robotic arm to move in the opposite direction of the capsule's deviation trajectory until the movable robotic arm returns to point A, where the capsule deviated. Then, step S5 is executed to retrieve the capsule. This allows for faster and more accurate retrieval of the magnetically controlled capsule, improving the efficiency of capsule retrieval.

[0032] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0034] Figure 1 This is the principle block diagram of the magnetically controlled capsule endoscope movement control system;

[0035] Figure 2 This is the flowchart for retrieving the magnetic control capsule. DETAILED DESCRIPTION

[0036] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0037] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0038] The present invention proposes a capsule control device based on magnetic field detection, including a magnetic control capsule and a magnetic field control console. A magnetic induction module is arranged in the magnetic control capsule, and a control module is arranged on the magnetic field control console. The magnetic induction module detects the magnetic field strength at the position of the magnetic control capsule and transmits it to the control module. The control module controls the magnetic field control console to move in the direction of increasing, maintaining or decreasing the magnetic field at the position of the capsule according to the magnetic field strength detection signal.

[0039] The capsule control device has a simple structure. It controls the magnetic field control console to move in the direction of increasing, maintaining, or decreasing the magnetic field at the location of the capsule based on the magnetic field strength at the location of the magnetic control capsule determined by the magnetic induction module, thereby facilitating the positioning and search of the capsule in the body. A mechanical arm is usually provided on the magnetic field control console, and a magnet is provided on the free end of the mechanical arm for interacting with the permanent magnet inside the magnetic control capsule to control the movement of the magnetic control capsule. Of course, the magnet can also be located inside the magnetic field control console, and the control module drives the power unit to drive the magnetic field control console to move, thereby realizing the movement of the magnet and controlling the magnet to move in the direction of increasing, maintaining, or decreasing the magnetic field at the location of the capsule.

[0040] like Figure 1 As shown, the present invention provides a magnetically controlled capsule endoscope movement control system, comprising a magnetically controlled capsule and a magnetic field control console. The magnetically controlled capsule comprises a capsule body provided with a first magnet and a capsule controller disposed within the capsule body. The magnetic field control console comprises a magnetic field controller, a robotic arm movement control unit, and a movable robotic arm having a second magnet disposed at its free end. The robotic arm movement control unit is connected to the movable robotic arm and can manually control the movement of the movable robotic arm. When the movable robotic arm moves, the magnetically controlled capsule moves due to the magnetic force between the magnetically controlled capsule and the movable robotic arm. The capsule controller and the magnetic field controller are connected via a wireless communication unit for mutual communication. The magnetic field controller has a control output connected to a drive unit, which is connected to the movable robotic arm. The magnetic field controller drives the movable robotic arm to move via the drive unit, thereby achieving automatic movement control of the movable robotic arm.

[0041] The magnetically controlled capsule is equipped with a magnetic induction module, which is connected to a capsule controller and transmits magnetic field strength information to the capsule controller and then to the magnetic field controller via a wireless communication module. Because the magnetic field strength of the second magnet is significantly greater than that of the first magnet, the impact of the first magnet on the accuracy of the magnetic field strength collected by the magnetic induction module is negligible. The magnetic induction module is preferably, but not limited to, a magnetic field sensor, such as a three-axis magnetic field sensor.

[0042] The magnetically controlled capsule endoscope movement control system further includes a retrieval instruction input unit, which is connected to the magnetic field controller and sends a retrieval instruction to the magnetic field controller. After receiving the instruction, the magnetic field controller controls the movement of the movable robotic arm.

[0043] The retrieval instruction input unit is a voice collection unit and / or a retrieval switch.

[0044] When it is a voice collection unit, such as a microphone, the output end of the voice collection unit is connected to the magnetic field controller, and the collected voice information is sent to the magnetic field controller. The voice recognition unit in the magnetic field controller recognizes the voice information. If it is a retrieval command, the magnetic field controller controls the movable robotic arm to move.

[0045] When it is a retrieval switch, one end of the retrieval switch is connected to the positive pole of the power supply, and the other end is connected to the input end of the magnetic field controller. When the retrieval switch is closed, the input end of the magnetic field controller receives a high-level input, and the movable robotic arm is controlled to move.

[0046] Here, the magnetic field controller can control the movement of the movable robotic arm through the drive unit according to the set movement trajectory. If the magnetic control capsule is lost, the magnetic field controller can also drive the movable robotic arm through the drive unit to move and retrieve the magnetic control capsule based on the strength of the magnetic field intensity information collected by the magnetic induction module.

[0047] The robot arm movement control unit here includes a movement handle and / or a button.

[0048] Since there is a time difference between the time when the magnetically controlled capsule is out of control and the time when the operator discovers that the magnetically controlled capsule is out of control, the movable robotic arm has often moved a certain distance when the operator discovers that the magnetically controlled capsule is out of control. Therefore, in order to promptly remind the operator that the magnetically controlled capsule is out of control, the magnetically controlled capsule endoscope movement control system also includes a warning unit, which is connected to the magnetic field controller; when the magnetic field strength information received by the magnetic field controller is less than the magnetic field strength threshold, the magnetic field controller controls the warning unit to issue a capsule uncontrolled warning.

[0049] Based on the above-mentioned magnetically controlled capsule endoscope movement control system, the present invention also proposes a magnetically controlled capsule endoscope movement control method, comprising the following steps:

[0050] S1, the operator operates the manipulator movement control unit on the magnetic field console of the magnetically controlled capsule endoscopy system to control the movement of the movable manipulator arm, and controls the movement of the capsule through the magnetic force between the movable manipulator arm and the capsule endoscope.

[0051] S2, the magnetic induction module collects magnetic field strength information in real time and sends it to the magnetic field controller.

[0052] S3, when the operator finds that the magnetically controlled capsule is out of control, the operator issues a retrieval instruction through the retrieval instruction input unit, such as directly inputting "retrieve capsule" by voice or directly pressing the retrieval switch. Here, the operator can judge whether the magnetically controlled capsule is under control based on work experience, such as whether the image captured by the capsule is repeated and remains unchanged, or the image captured by the capsule is always displayed in one place. It is also possible to know that the magnetically controlled capsule is out of control through system prompts. In this embodiment, it can be known by the following method: the magnetic field controller compares the received magnetic field strength information with the magnetic field strength threshold. When the received magnetic field strength information is less than the magnetic field strength threshold, it is determined that the magnetically controlled capsule is out of control. At this time, the magnetic field controller reminds the operator that the magnetically controlled capsule is out of control through a warning module, such as a display screen, a buzzer or an indicator light.

[0053] S5, such as Figure 2 As shown, after receiving the retrieval instruction, the magnetic field controller marks the current position of the movable robotic arm, and then controls the drive module to move the movable robotic arm in any direction of the X, Y or Z axis. After the movement, if the magnetic field strength information obtained by the magnetic field controller changes from weak to strong, it means that the movement direction is correct, and the magnetic field controller continues to control the robotic arm to move in this direction until the capsule is controlled and the magnetic field information returns to a stable level; if the magnetic field strength information does not change or becomes smaller when moving in this direction, it means that the movement direction is wrong, and the magnetic field controller controls the movable robotic arm to return to the marked position. After the movable robotic arm returns to its position, the magnetic field controller controls the movable robotic arm to move in another direction to detect whether the magnetic field size changes, and so on, until it moves to the correct direction and the capsule is controlled.

[0054] Because there's a time lag between when the magnetically controlled capsule loses control and when the operator discovers it, the movable robotic arm often already has moved a certain distance by the time the operator discovers it. Even if the system alerts the operator that the magnetically controlled capsule is out of control, the movable robotic arm may still have moved a certain distance. Therefore, to more quickly and accurately retrieve the magnetically controlled capsule, the robotic arm movement control unit is connected to the magnetic field controller. When the operator operates the robotic arm movement control unit to control the movement of the movable robotic arm, the magnetic field controller records the movement trajectory of the movable robotic arm.

[0055] When the magnetic field intensity collected at time t becomes smaller than the magnetic field intensity collected at time t-1, and the change value is greater than the set magnetic field change threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A;

[0056] Alternatively, when the collected magnetic field intensity is less than the set magnetic field intensity threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A.

[0057] When the operator finds that the capsule is lost and issues a retrieval command, the position of the movable robotic arm at this time is recorded as point B. The magnetic field controller extracts the movable robotic arm's movement trajectory from point A to point B from the movable robotic arm's movement trajectory, that is, the magnetic control capsule deviates from the trajectory;

[0058] The magnetic field controller controls the movable robotic arm through the driving unit to move in the opposite direction according to the deviation trajectory of the capsule until the movable robotic arm returns to the starting point A of the capsule deviation; then executes step S5, and the magnetic field controller controls the driving module to move the movable robotic arm in any direction of the X, Y or Z axis. After the movement, if the magnetic field strength information obtained by the magnetic field controller changes from weak to strong, it means that the movement direction is correct, and the magnetic field controller continues to control the robotic arm to move in this direction until the capsule is controlled and the magnetic field information returns to a stable level; if the magnetic field strength information does not change or becomes smaller when moving in this direction, it means that the movement direction is wrong, and the magnetic field controller controls the movable robotic arm to return to the marked position. After the movable robotic arm returns to its position, the magnetic field controller controls the movable robotic arm to move in another direction to detect whether the magnetic field size changes, and so on, until it moves to the correct direction and the capsule is controlled, and the capsule is retrieved.

[0059] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0060] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A magnetically controlled capsule endoscope movement control system, comprising a magnetically controlled capsule endoscope and a magnetic field control console, wherein the magnetically controlled capsule endoscope comprises a capsule body provided with a first magnet and a capsule controller disposed within the capsule body, wherein the magnetic field control console comprises a magnetic field controller, a robotic arm movement control unit, and a movable robotic arm having a second magnet disposed at a free end thereof, wherein the robotic arm movement control unit is connected to the movable robotic arm and can manually control the movement of the movable robotic arm, and wherein: The capsule controller and the magnetic field controller are connected to each other via a wireless communication unit; the control output end of the magnetic field controller is connected to a driving unit, and the driving unit is connected to the movable mechanical arm to automatically control the movement of the movable mechanical arm; The magnetically controlled capsule endoscope is provided with a magnetic induction module, which is connected to the capsule controller and sends magnetic field strength information to the capsule controller and then to the magnetic field controller via the wireless communication module; The invention also includes a retrieval instruction input unit, which is connected to the magnetic field controller and sends a retrieval instruction to the magnetic field controller. After receiving the instruction, the magnetic field controller controls the movable mechanical arm to move; When controlling the movement of the magnetically controlled capsule endoscope: S1, the operator operates the manipulator movement control unit on the console of the magnetically controlled capsule endoscopy system to control the movement of the movable manipulator arm, and controls the movement of the capsule through the magnetic force between the movable manipulator arm and the magnetically controlled capsule endoscopy; When the operator operates the manipulator movement control unit to control the movable manipulator to move, the magnetic field controller records the movement trajectory of the movable manipulator; S2, the magnetic induction module collects magnetic field strength information in real time and sends it to the magnetic field controller; When the magnetic field intensity collected at time t becomes smaller than the magnetic field intensity collected at time t-1, and the change value is greater than the set magnetic field change threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A; Alternatively, when the collected magnetic field intensity is less than the set magnetic field intensity threshold, the magnetic field controller records the position information of the movable robotic arm at this time, which is recorded as the capsule deviating from the starting point A; S3, when the operator finds that the magnetically controlled capsule endoscope is out of control, the operator issues a retrieval command through the retrieval command input unit and records the position of the movable robotic arm at this time as point B; S5, after receiving the retrieval instruction, the magnetic field controller extracts the moving trajectory of the movable manipulator from point A to point B from the moving trajectory of the movable manipulator, that is, the deviation trajectory of the magnetically controlled capsule endoscope; The magnetic field controller controls the movable robotic arm through the driving unit to move in the opposite direction according to the capsule deviation trajectory until the movable robotic arm returns to the capsule deviation starting point A; Then the driving module is controlled to move the movable robotic arm in any direction of the X, Y or Z axis. After the movement, if the magnetic field strength information obtained by the magnetic field controller changes from weak to strong, it means that the movement direction is correct, and the magnetic field controller continues to control the robotic arm to move in this direction until the capsule is controlled and the magnetic field information returns to a stable level; if the magnetic field strength information does not change or becomes smaller when moving in this direction, it means that the movement direction is wrong, and the magnetic field controller controls the movable robotic arm to return to point A where the capsule deviates from the starting point. After the movable robotic arm returns to its position, the magnetic field controller controls the movable robotic arm to move in another direction to detect whether the magnetic field size changes, and so on, until it moves in the correct direction and the capsule is controlled.

2. The magnetically controlled capsule endoscope movement control system according to claim 1, characterized in that: The retrieval instruction input unit is a voice collection unit and / or a retrieval switch; The output end of the voice collection unit is connected to the magnetic field controller, and sends voice information to the magnetic field controller. The magnetic field controller recognizes the voice information, and if it is a retrieval instruction, the magnetic field controller controls the movable manipulator to move; One end of the retrieval switch is connected to the positive pole of the power supply, and the other end is connected to the input end of the magnetic field controller. When the retrieval switch is closed, the magnetic field controller controls the movable mechanical arm to move.

3. The magnetically controlled capsule endoscope movement control system according to claim 1, characterized in that: The robotic arm movement control unit includes a movement handle and / or a button.

4. The magnetically controlled capsule endoscope movement control system according to claim 1, characterized in that: It also includes a warning unit, which is connected to the magnetic field controller. When the magnetic field strength information received by the magnetic field controller is less than the magnetic field strength threshold, the magnetic field controller controls the warning unit to issue a capsule uncontrolled warning.

5. The magnetically controlled capsule endoscope movement control system according to claim 1, characterized in that: In step S3, the operator discovers that the magnetically controlled capsule endoscope is out of control by comparing the received magnetic field strength information with the magnetic field strength threshold. When the received magnetic field strength information is less than the magnetic field strength threshold, it is determined that the magnetically controlled capsule endoscope is out of control.

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