Electromagnetic drive device and magnetic control system for capsule endoscope

Abstract

The present invention provides an electromagnetic driving device and a magnetic control system for a capsule endoscope, which relates to the technical field of medical devices. The electromagnetic driving device includes: a permanent magnet for adjusting the attitude and / or position of the capsule endoscope; a housing having an accommodation cavity inside, and the permanent magnet is adapted to be suspended in the accommodation cavity; an electromagnet, the electromagnet is disposed outside the housing, and the magnetic force generated by the electromagnet can drive the permanent magnet to move in the accommodation cavity. By changing the magnitude and / or direction of the current of the electromagnet, the attitude and / or position of the permanent magnet can be adjusted, thereby realizing the adjustment of the attitude and / or position of the capsule endoscope. The present invention can alleviate the problems of complex structure, large volume, high cost, etc. existing in the prior art, can improve the actual use experience, and is easy to be popularized and applied.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electromagnetic driving device and a magnetic control system for a capsule endoscope. Background Art

[0002] At present, using a capsule endoscope for routine examinations of the human digestive tract and the like is a relatively advanced diagnostic method in the market, and has been widely studied and developed relatively rapidly. Compared with inserting a traditional electronic endoscope, using a capsule endoscope will not cause discomfort to the examiner physically and mentally, reduce the possibility of cross-infection, and also reduce the diagnosis and treatment cycle.

[0003] When using a capsule endoscope, it is necessary to control the position and posture of the capsule endoscope through a control system to achieve a more comprehensive examination of the stomach. A magnetically controlled capsule endoscope is a classification of capsule endoscopes that can actively control the examination field of view through an operating end, and is a commonly used control method at present. A magnet is placed outside the human body, and a magnet is installed inside the capsule endoscope. By changing the orientation and posture of the magnet outside the human body, the magnetic field around the magnet changes orderly, so that the magnet built into the magnetically controlled capsule endoscope is affected by the changing external magnetic field to drive the capsule endoscope, thereby realizing the change of the examination field of view of the capsule endoscope.

[0004] However, most of the existing magnetic control systems for capsule endoscopes adopt a motor-driven method. However, the magnetically controlled device based on motor drive in the prior art usually has a relatively large volume (large circumferential dimension) due to the complex transmission chain design, and has a relatively high cost due to the use of components such as servo motors, controllers, and harmonic reducers.

[0005] In view of this, the present invention is specifically proposed. Summary of the Invention

[0006] The purpose of the present invention is to provide an electromagnetic driving device and a magnetic control system for a capsule endoscope, which have the characteristics of simple and compact structure and low cost, and can overcome the above problems or at least partially solve the above technical problems.

[0007] To achieve the above purpose, the technical solution adopted in the present application is as follows:

[0008] According to one aspect of the present application, the present application provides an electromagnetic driving device, including:

[0009] A permanent magnet for adjusting the posture and / or position of the capsule endoscope;

[0010] A housing, the interior of the housing having a receiving cavity, and the permanent magnet being adapted to be suspended in the receiving cavity;

[0011] An electromagnet is provided on the outer side of the housing. The magnetic force generated by the electromagnet can drive the permanent magnet to move in the accommodation cavity. By changing the magnitude and / or direction of the current of the electromagnet, the attitude and / or position of the permanent magnet can be adjusted, and thus the attitude and / or position of the capsule endoscope can be adjusted.

[0012] It can be understood that generally, for an object immersed in a liquid, when its buoyancy is equal to its gravity, the state of the object in the liquid can be called suspension; the characteristic of a suspended object is that the buoyancy and gravity it receives are equal, and the suspended object can stay at any height in the liquid.

[0013] In the present invention, the above-mentioned permanent magnet is adapted to be suspended in the accommodation cavity, mainly including the following situations: (1) The permanent magnet can be completely immersed or suspended in the liquid in the accommodation cavity. (2) The permanent magnet can float in the liquid in the accommodation cavity. The permanent magnet does not contact the inner side wall of the housing, or although the permanent magnet contacts the inner side wall of the housing, the pressure is small, that is, the friction between the two is small or approximately frictionless. (3) The permanent magnet can sink (be immersed) in the liquid in the accommodation cavity, and the permanent magnet can contact the inner side wall of the housing (the inner side wall of the accommodation cavity), but the pressure between the two is small, that is, the friction between the two is small or approximately frictionless. For example, in this case, the outer surface of the permanent magnet and the inner side wall of the housing can be very smooth. In this case, through the contact of a sufficiently smooth surface, it can be ensured that the permanent magnet rotates smoothly in the accommodation cavity.

[0014] In addition, in the above several situations, the accommodation cavity can be filled with a liquid that can make the permanent magnet suspended, or can also be filled with a gas that can make the permanent magnet suspended.

[0015] In a possible implementation manner, the accommodation cavity is filled with a suspension liquid, and the suspension liquid can be used to suspend the permanent magnet in the accommodation cavity.

[0016] Optionally, the density of the suspension liquid is greater than or equal to the density of the permanent magnet, or the density of the suspension liquid can also be slightly less than the density of the permanent magnet, as long as it can meet the above several situations where the permanent magnet is suspended in the accommodation cavity.

[0017] In a possible implementation manner, the density of the suspension liquid is the same as the density of the permanent magnet, and at least part of the permanent magnet is located in the suspension liquid;

[0018] Or, the density of the suspension liquid is greater than the density of the permanent magnet, part of the permanent magnet is located in the suspension liquid, and part of the permanent magnet is located outside the liquid level of the suspension liquid;

[0019] Alternatively, the density of the suspension is less than the density of the permanent magnet, and all the permanent magnets are located within the suspension. At least a portion of the outer surface of the permanent magnet is adapted to contact the inner wall surface of the receiving cavity. The permanent magnet has a smooth outer surface, and the receiving cavity has a smooth inner wall surface.

[0020] Optionally, the Ra value of the roughness of the outer surface of the permanent magnet may be not greater than 0.02 μm, and further may be not greater than 0.01 μm. The Ra value of the roughness of the inner wall surface of the receiving cavity may be not greater than 0.02 μm, and further may be not greater than 0.01 μm.

[0021] In a possible implementation, the density value of the suspension is greater than or equal to 8 g / cm 3 .

[0022] In a possible implementation, the suspension includes liquid mercury, or other liquids with a density value greater than or equal to 8 g / cm 3 and so on.

[0023] In a possible implementation, the receiving cavity is filled with a gas, and the gas can be used to suspend the permanent magnet in the receiving cavity.

[0024] Optionally, the gas is a high-pressure gas, and the density value of the high-pressure gas can be greater than or equal to 8 g / cm 3 , or can also be slightly less than 8 g / cm 3 .

[0025] Furthermore, the high-pressure gas can be a compressed gas or a high-pressure liquefied gas, etc. For example, the gas filled in the receiving cavity can be radon gas, or other high-pressure gases that can suspend the permanent magnet in the receiving cavity.

[0026] It can be understood that the method of suspending the permanent magnet in the receiving cavity can be of various types. For example, in some embodiments, a suspension can be filled in the receiving cavity, and the suspension is used to suspend the permanent magnet in the suspension or in the receiving cavity. Again, in other embodiments, a high-pressure gas can be filled in the receiving cavity, and these high-pressure gases can be compressed gases or high-pressure liquefied gases, etc. The present invention does not limit the specific types of the specific suspension and high-pressure gas, as long as it can achieve suspending the permanent magnet in the receiving cavity and does not limit the purpose of the present invention.

[0027] In a possible implementation, the outer shell at least includes a first outer shell and a second outer shell. The first outer shell and the second outer shell enclose to form an outer shell with a receiving cavity inside; the first outer shell and the second outer shell are detachably connected.

[0028] In a possible implementation, the first housing and the second housing are connected by screws.

[0029] In a possible implementation, the electromagnetic driving device further includes a sealing ring for sealing the accommodating cavity.

[0030] In a possible implementation, the electromagnet includes at least one set of electromagnetic coils, and each set of electromagnetic coils is respectively arranged around the outer periphery of the housing in different directions.

[0031] In a possible implementation, the electromagnet includes three sets of electromagnetic coils, and the three sets of electromagnetic coils are respectively arranged around the outer periphery of the housing in three directions.

[0032] Optionally, the three directions include the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0033] In a possible implementation, the electromagnet includes an electromagnetic coil, and the electromagnetic coil includes:

[0034] A first electromagnetic coil for providing a magnetic field in the X-axis direction;

[0035] A second electromagnetic coil for providing a magnetic field in the Y-axis direction;

[0036] A third electromagnetic coil for providing a magnetic field in the Z-axis direction;

[0037] Wherein, the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0038] In a possible implementation, the permanent magnet includes a spherical permanent magnet.

[0039] In a possible implementation, the electromagnetic driving device further includes an outer cover covering the outside of the electromagnetic coil to achieve safety protection for the electromagnetic coil, the housing, and the permanent magnet. The power supply wire of the electromagnetic coil can be led out from any one or more directions such as the upper part, the lower part, or the side part of the outer cover.

[0040] In a possible implementation, the electromagnetic driving device further includes a current controller. The electromagnetic coil is electrically connected to the current controller, and the electromagnetic coil is driven by the current controller. The current controller can connect or disconnect the power supply of the electromagnetic coil.

[0041] The magnetic field generated when the electromagnetic coil is energized can drive the permanent magnet to rotate. Further, when the electromagnetic coil is energized, magnetic attraction or magnetic repulsion is generated between the electromagnetic coil and the permanent magnet, so that the permanent magnet moves in the accommodation cavity of the housing. At the same time, the permanent magnet is reliably suspended by buoyancy in the accommodation cavity, thereby reducing the frictional force generated during the rotational movement.

[0042] In a possible implementation, the electromagnetic driving device further includes a mounting bracket. After the permanent magnet, the housing, the sealing ring, and the electromagnet are combined into a whole, they can be mounted on the mounting bracket.

[0043] According to another aspect of the present application, the present application provides a magnetic control system for a capsule endoscope for controlling the capsule endoscope, including the capsule endoscope and the electromagnetic driving device as described above.

[0044] Compared with the prior art, the technical solution provided by the present invention can achieve the following beneficial effects:

[0045] The electromagnetic driving device provided by the present invention includes a permanent magnet, a housing, and an electromagnet. The interior of the housing has an accommodation cavity adapted to the permanent magnet. The permanent magnet can be suspended in the accommodation cavity. The electromagnet is arranged outside the housing. Thus, the permanent magnet can be used as the driving force source of the magnetic control capsule endoscope, and the magnetic field force generated when the electromagnet is energized is used to drive the permanent magnet to rotate arbitrarily in the accommodation cavity, and the permanent magnet is suspended in the accommodation cavity, which can reduce the frictional force generated during the rotational movement. Therefore, the electromagnetic driving device has a simple and compact structure, a high degree of integration, a small volume, and a light weight, reduces the manufacturing cost, and can avoid the problem of high cost caused by using components such as motors and reducers, and can also reliably control the magnetic control capsule endoscope.

[0046] The capsule endoscope magnetic control system of the present application includes the electromagnetic driving device described above, and has all the characteristics and advantages of the electromagnetic driving device described above, which will not be elaborated here.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. Description of the Drawings

[0048] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1Schematic structural diagram of a device for controlling the movement of a capsule endoscope in the prior art;

[0050] Figure 2 Schematic structural diagram of the electromagnetic drive device provided by an embodiment of the present application;

[0051] Figure 3 Exploded schematic diagram of the internal structural components of the electromagnet provided by an embodiment of the present application;

[0052] Figure 4 Schematic structural diagram of the assembly of the housing and the permanent magnet provided by an embodiment of the present application.

[0053] Icon:

[0054] 1 - Three - axis displacement base; 2 - Magnetic control device; 3 - Magnetic ball;

[0055] 100 - Electromagnet; 101 - First electromagnetic coil; 102 - Second electromagnetic coil; 103 - Third electromagnetic coil;

[0056] 200 - Housing; 201 - First housing; 202 - Second housing; 211 - Accommodating cavity;

[0057] 300 - Suspension;

[0058] 400 - Sealing ring;

[0059] 500 - Permanent magnet;

[0060] 600 - Screw. Detailed implementation manners

[0061] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0062] In the description of the present application, unless otherwise clearly defined and limited, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; unless otherwise specified or stated, the term "plural" means two or more; the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0063] In the description of this specification, it should be understood that the orientation terms such as "upper", "lower", "inner", "outer", etc. described in the embodiments of this application are described from the angles shown in the drawings, and should not be construed as limitations on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element.

[0064] It should be noted that the term "and / or" or " / " used herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The singular forms "a", "the", and "said" used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0065] If there is no special description, all the technical features and preferred features mentioned in this article can be combined with each other to form a new technical solution. Unless otherwise defined or explained, the professional and scientific terms used in this article have the same meanings as those familiar to those skilled in the art.

[0066] Those skilled in the art understand that, as described in the background art, most of the existing magnetic control systems for capsule endoscopes adopt the motor drive method, which has the disadvantages of relatively complex structure, large volume, high cost, or difficult operation. Exemplarily, please refer to Figure 1 As shown, the patent with the publication number CN 103222842A discloses a device and method for controlling the movement of a capsule endoscope in the human digestive tract, which includes a three-axis displacement base 1, a magnetic control device 2, and a magnetic sphere 3. By the three-axis displacement base 1, the position of the magnetic control device 2 can be changed, and the magnetic control device 2 uses a magnetic sphere 3 with an adjustable attitude to provide a variable external magnetic field for the magnetically controlled capsule endoscope.

[0067] Generally, in the prior art, the magnetic control device 2 uses a motor to control the magnetic sphere 3, thereby adjusting the magnetic field generated by the magnetic control device 2. In order to achieve the control of the magnetic sphere 3 by the motor, the magnetic control device 2 usually also includes a transmission chain matching the motor to ensure the precise control of the magnetic sphere 3 by the motor. However, in order to achieve the multi-degree-of-freedom movement of the magnetic sphere 3, at least two motors and the corresponding transmission chains need to be provided on the magnetic control device 2, resulting in a large volume and weight of the magnetic control device 2. Further, in order to install the above magnetic control device 2, enough movement space needs to be reserved for the magnetic control device 2, so the volume of the entire capsule endoscope control system also increases accordingly.

[0068] Therefore, to overcome the imperfections of the prior art, the technical solution of the embodiments of the present application provides an electromagnetic drive device and a capsule endoscope magnetic control system including the electromagnetic drive device, in order to alleviate the problems existing in the prior art such as complex structure, large volume, high cost, etc., and improve the actual use experience.

[0069] In a first aspect, as Figures 2 to 4 shown, in some embodiments, an electromagnetic drive device is provided, including:

[0070] A permanent magnet 500, which is used to adjust the attitude and / or position of the capsule endoscope;

[0071] A housing 200, the interior of the housing 200 has a receiving cavity 211, and the permanent magnet 500 is adapted to be suspended in the receiving cavity 211;

[0072] An electromagnet 100, an electromagnet 100 is provided on the outside of the housing 200, and the magnetic force generated by the electromagnet 100 can drive the permanent magnet 500 to move in the receiving cavity 211. By changing the magnitude and / or direction of the current of the electromagnet 100, the attitude and / or position of the permanent magnet 500 can be adjusted, and thus the attitude and / or position of the capsule endoscope can be adjusted.

[0073] Those skilled in the art understand that a magnet, an optical imaging system, etc. will be integrated inside the capsule endoscope for performing imaging examinations in the human body. It needs to rely on an external magnetic field to precisely control the movement, attitude, direction, etc. of the capsule endoscope entering the human body to achieve a more comprehensive examination in the human body. The electromagnetic drive device in the embodiments of the present application adopts the form of electromagnetic drive to drive the permanent magnet to move, and by controlling the movement of the permanent magnet, the changes in the attitude and position of the capsule endoscope in the human body are driven.

[0074] Further, the interior of the above-mentioned housing 200 has a receiving cavity 211. The shape of the receiving cavity 211 can match the shape of the permanent magnet 500, and the size of the receiving cavity 211 needs to be larger than the size of the permanent magnet 500, so that the magnetic force generated when the electromagnet 100 is energized can drive the permanent magnet 500 to rotate arbitrarily in the receiving cavity 211. At the same time, the permanent magnet 500 can be suspended in the receiving cavity 211, thereby reducing the frictional force generated when the permanent magnet 500 rotates, and further reducing the driving force required for the rotational movement of the permanent magnet 500.

[0075] The above-mentioned attitude and / or position can be understood as attitude, position, or attitude and position. The above-mentioned magnitude and / or direction of the current can be understood as the magnitude of the current, the direction of the current, or the magnitude and direction of the current.

[0076] In this electromagnetic driving device, a permanent magnet 500, a housing 200, and an electromagnet 100 are included. Among them, an accommodation cavity 211 is provided inside the housing 200. The permanent magnet 500 can be suspended in the accommodation cavity 211, and the electromagnet 100 is arranged outside the housing 200. Thus, the magnetic field generated when the electromagnet 100 is energized can be used to drive the permanent magnet 500 to move, and by changing the magnitude / direction of the current of the electromagnet 100, the magnitude / direction of the corresponding magnetic field can be changed, and further, the attitude / position of the permanent magnet 500 can be adjusted, so as to realize the adjustment of the attitude / position of the capsule endoscope in the human body. Further, when the electromagnet 100 is energized, magnetic attraction or magnetic repulsion is generated between the electromagnet 100 and the permanent magnet 500, so that the permanent magnet 500 moves in the accommodation cavity 211 of the housing 200. At the same time, the permanent magnet 500 can be suspended in the accommodation cavity 211 by buoyancy, and the frictional force generated during rotational movement can be reduced, and further, the driving force required for the permanent magnet 500 can be reduced.

[0077] It can be understood that in the present invention, the permanent magnet 500 is adapted to be suspended in the accommodation cavity 211, mainly including the following several situations:

[0078] (1) The permanent magnet 500 can be completely immersed in the liquid in the accommodation cavity 211;

[0079] (2) The permanent magnet 500 can float on the liquid in the accommodation cavity 211. The permanent magnet 500 does not contact the inner side wall of the housing 200, and the frictional force between the two is small or approximately frictionless;

[0080] (3) The permanent magnet 500 can sink in the liquid in the accommodation cavity 211. The permanent magnet 500 contacts the inner side wall of the housing 211, and the frictional force between the two is small or approximately frictionless.

[0081] Therefore, compared with the prior art, the electromagnetic drive device of the present invention can be designed to be more compact in structure, and there is no need to set up a motor and a matching transmission chain, thereby greatly reducing the weight and volume of the electromagnetic drive device. According to the inventor's experiment, when the volume and weight of the permanent magnet 100 are the same, the volume of the electromagnetic drive device in the present application is reduced by 10% to 20% compared with the volume of the magnetic control device using a motor in the prior art. Furthermore, since the volume and weight of the electromagnetic drive device are reduced, the movement space required for it is reduced accordingly, making the structure of the capsule magnetic control system more compact. In addition, the volume and weight of the structure supporting the electromagnetic drive device are also reduced, thereby reducing the volume and weight of the capsule magnetic control system. Among them, the electromagnetic drive form can increase the degree of freedom of rotation of the permanent magnet without increasing the components. In addition, the electromagnetic drive form can increase the force on the magnetically controlled capsule endoscope without increasing the volume and magnetization intensity of the permanent magnet; the electromagnetic drive form can avoid the problem of high cost caused by using components such as motors and reducers, reduce the manufacturing cost, and can also reliably control the magnetically controlled capsule endoscope.

[0082] Furthermore, there may be various ways to suspend the permanent magnet 500 in the receiving cavity 211 of the housing 200. For example, in some embodiments, the receiving cavity 211 may be filled with a suspension 300, and the suspension 300 may be used to suspend the permanent magnet 500 in the suspension 300 or in the receiving cavity 211. For another example, in other embodiments, the receiving cavity 211 may be filled with a high-pressure gas.

[0083] Preferably, if Figure 3 and Figure 4 As shown, in some embodiments, the receiving cavity 211 is filled with a suspension 300 , the density of the suspension 300 may be slightly greater than, equal to, or slightly less than the density of the permanent magnet 500 , and the suspension 300 can be used to suspend the permanent magnet 500 in the receiving cavity 211 .

[0084] Exemplarily, when the accommodating cavity 211 is filled with the suspension 300, the permanent magnet 500 is suitable for being suspended in the accommodating cavity 211, which may include at least the following situations:

[0085] The permanent magnet 500 is in the accommodating cavity 211 , and the suspension 300 may not completely submerge the permanent magnet 500 .

[0086] Alternatively, the density of the suspension 300 is equal to the density of the permanent magnet 500 , and the permanent magnet 500 can be suspended in the suspension 300 , and there is no friction between the permanent magnet 500 and the inner wall of the housing 200 .

[0087] Alternatively, the density of the suspension 300 can be slightly greater than the density of the permanent magnet 500. Although the permanent magnet 500 contacts the inner sidewall of the outer shell 200, the pressure is small, so that the frictional force generated between the two is small or approximately frictionless.

[0088] Alternatively, the density of the suspension 300 can be slightly less than the density of the permanent magnet 500. The permanent magnet 500 contacts the inner sidewall of the outer shell 200 (the inner wall surface of the accommodating cavity 211), but the pressure between the two is small, so that the frictional force generated between the two is small or approximately frictionless. For example, in this case, the outer surface of the permanent magnet 500 and the inner sidewall of the outer shell 200 can be very smooth. In this case, through the contact of a sufficiently smooth surface, it can be ensured that the permanent magnet 500 rotates smoothly in the accommodating cavity.

[0089] It should be noted that when the permanent magnet 500 needs to contact the inner sidewall of the outer shell 200, the outer surface of the permanent magnet 500 and the inner sidewall of the outer shell 200 both need to be smooth. The present application embodiment does not limit the specific smoothness value or roughness value of the outer surface of the permanent magnet 500 and the inner sidewall of the outer shell 200. As long as it can ensure that the permanent magnet 500 rotates smoothly in the accommodating cavity and does not limit the purpose of the present invention. Exemplarily, the roughness Ra value of the outer surface of the permanent magnet 500 can be not greater than (≤) 0.02 μm, and further can be not greater than 0.01 μm. The roughness Ra value of the inner sidewall of the outer shell 200 (the inner wall surface of the accommodating cavity 211) can be not greater than 0.02 μm, and further can be not greater than 0.01 μm.

[0090] Specifically, in some embodiments, the density value of the suspension 300 is greater than or equal to 8 g / cm 3 .

[0091] In some embodiments, the suspension 300 includes but is not limited to liquid mercury. For example, it can also be other liquids with a density value greater than or equal to 8 g / cm 3 and so on.

[0092] It can be understood that the suspension 300 is filled in the accommodating cavity 211, and the density of the suspension 300 can be adaptively adjusted according to the density of the permanent magnet. Thus, the permanent magnet 500 can be suspended in the formed accommodating cavity 211 by buoyancy. In this way, when the permanent magnet 500 rotates by the magnetic force generated when the electromagnet 100 is energized, the frictional force can be greatly reduced, so that the permanent magnet 500 can rotate more freely and smoothly in the accommodating cavity 211.

[0093] The above-mentioned suspension 300 can use a liquid with a density greater than the permanent magnet material. For example, the suspension 300 can be liquid mercury, or other liquids with a density value greater than or equal to 8 g / cm 3liquids, etc.; more generally, the suspension 300 can also be any other liquid known in the art with a density greater than, equal to, or slightly less than the density of the permanent magnet material.

[0094] It should be noted that there is no limitation on the specific method of filling the above-mentioned suspension 300 into the accommodation cavity 211; exemplarily, the permanent magnet 500 can be first placed in the accommodation cavity 211, gaps can be provided around the accommodation cavity 211 or channels that can communicate with the outside can be opened, and the suspension 300 can be filled into the accommodation cavity 211 through the gaps or channels, and then the gaps can be sealed or the channels can be closed, thereby preventing the leakage of the suspension 300.

[0095] The filling amount of the above-mentioned suspension 300 can also be determined according to the actual specific situation. For example, the permanent magnet 500 can be first placed in the accommodation cavity 211, and then the suspension 300 can fill the entire accommodation cavity 211, or the accommodation cavity 211 can be partially filled with the suspension 300, as long as the permanent magnet 500 can float in the accommodation cavity 211 or the suspension 300 by buoyancy.

[0096] Specifically, in some other embodiments, the accommodation cavity 211 is filled with gas, and the gas can be used to make the permanent magnet 500 float in the accommodation cavity 211.

[0097] Optionally, the gas can be a high-pressure gas, and the density value of the high-pressure gas can be greater than, equal to, or slightly less than 8 g / cm 3 . Further, the high-pressure gas can be a compressed gas or a high-pressure liquefied gas, etc. Exemplarily, the high-pressure gas can be a gas with a relatively large density such as an inert gas.

[0098] It can be understood that when different materials of the permanent magnet 500 or other types of gases are used, as long as the density of the gas is slightly greater than, equal to, or slightly less than the density of the permanent magnet material, the corresponding relationship between the pressure value and the density of the gas can be obtained according to relevant relations or actual situations.

[0099] It should be noted that the embodiments of the present application do not limit the specific pressure magnitude of the high-pressure gas and the specific type of the high-pressure gas, as long as the filled high-pressure gas can make the permanent magnet float in the accommodation cavity by buoyancy.

[0100] The embodiments of the present application do not limit the specific manner of filling the above-mentioned high-pressure gas into the accommodating cavity 211; by way of example, a valve may be provided on one side of the outer shell 200, and the valve is respectively communicated with the interior of the accommodating cavity 211 and a high-pressure gas source; during operation, the permanent magnet 500 may be first placed in the accommodating cavity 211, and then the valve is opened, and the high-pressure gas source is used to fill the high-pressure gas into the accommodating cavity 211. After the filling is completed, the valve is closed.

[0101] In some embodiments, the permanent magnet 500 includes, but is not limited to, a spherical permanent magnet, or may also be a quasi-spherical permanent magnet, etc. The spherical permanent magnet may be magnetized along the central axis. Correspondingly, the accommodating cavity 211 inside the outer shell 200 may be a spherical motion space.

[0102] It can be understood that the shape of the permanent magnet 500 may be a spherical permanent magnet or a quasi-spherical permanent magnet, etc. The electromagnetic driving device provided by the embodiments of the present application adopts an electromagnetic driving form, and can increase the acting force on the magnetic control capsule endoscope without increasing the volume and magnetization intensity of the permanent magnet. Therefore, the diameter, surface magnetic induction intensity, etc. of the spherical permanent magnet are not limited, and spherical permanent magnets with a similar volume and similar magnetic induction intensity (magnetization intensity) in the prior art may be used. The diameter, surface magnetic induction intensity, etc. of the specific spherical permanent magnet may be adjusted according to actual needs.

[0103] In some embodiments, the spherical permanent magnet 500 may be made of a permanent magnet material with little radiation damage to the human body, such as neodymium iron boron, magnetite, samarium cobalt, or alnico. The embodiments of the present application do not impose special restrictions on the material of the spherical permanent magnet, and common permanent magnet materials in the art, such as neodymium iron boron, magnetite, etc., may be used.

[0104] The above-mentioned permanent magnet 500 is preferably a spherical permanent magnet. Correspondingly, the shape of the accommodating cavity 211 inside the outer shell 200 may match the shape of the permanent magnet 500, that is, the overall shape of the accommodating cavity 211 is also preferably a spherical motion space. Of course, the shape of the accommodating cavity 211 is not limited to this, and may also be other polygons, etc. There is a cavity inside the outer shell 200, that is, the accommodating cavity 211. The spherical permanent magnet 500 may be placed in the accommodating cavity 211. The diameter of the accommodating cavity 211 should be larger than the diameter of the spherical permanent magnet 500 to fill a suspension or high-pressure gas in the accommodating cavity 211, so that the spherical permanent magnet 500 can rotate arbitrarily in the spherical motion space (accommodating cavity 211).

[0105] Optionally, the outer shell 200 is a non-magnetic outer shell, that is, the material of the outer shell 200 is a non-magnetic material. Since the permanent magnet 500 is arranged inside the outer shell 200 and the electromagnetic coil is wrapped outside the outer shell 200, in order to reduce the influence on the permanent magnet and more precisely control and adjust the posture and / or position of the capsule endoscope, preferably, the material of the outer shell 200 is a non-magnetic material. For example, the material of the outer shell 200 can be materials such as plastic, ceramic, aluminum alloy, austenitic stainless steel, etc. Otherwise, if a magnetic material is used for the outer shell, it is easily magnetized during use, and the intensity and direction of its magnetization will change, which will further cause great uncertainty in the control effect and affect the regulation of the posture and / or position of the capsule endoscope.

[0106] As can be seen from the above, according to the embodiments of the present application, the permanent magnet 500 can be a spherical permanent magnet, the outer shell 200 is a hollow structure, and an accommodation cavity 211 for accommodating the spherical permanent magnet is arranged inside. Moreover, the permanent magnet 500 can float in the accommodation cavity 211 by relying on buoyancy, which can reduce the frictional force generated during rotational motion, and further reduce the resistance of the spherical permanent magnet 500 during rotation.

[0107] Furthermore, by using the electromagnetic drive method, an electromagnet 100 is arranged outside the outer shell 200. The electromagnet 100 can cooperate with the spherical permanent magnet. By controlling the magnitude and direction of the current of the electromagnet, the intensity of the coupled magnetic field of the electromagnet is controlled. The spherical permanent magnet 500 generates a magnetic force in the coupled magnetic field to rotate, thereby realizing the three-degree-of-freedom arbitrary-direction full-circle rotation drive of the spherical permanent magnet 500.

[0108] As Figure 3 and Figure 4 shown, in some embodiments, the outer shell 200 includes a first outer shell 201 and a second outer shell 202. The first outer shell 201 and the second outer shell 202 enclose to form an outer shell 200 with an accommodation cavity 211 inside; the first outer shell 201 and the second outer shell 202 are detachably connected.

[0109] In addition, in other embodiments, the outer shell 200 can also adopt a complete shell structure (formed integrally), or the outer shell 200 can be assembled from two or more shell parts. When the integrally formed outer shell 200 is used, an outer shell 200 needs to be integrally formed outside the permanent magnet 500, and then a suspension liquid or high-pressure gas is filled into the accommodation cavity 211 in the outer shell 200.

[0110] Optionally, the outer shell 200 can be a hollow spherical structure with a spherical accommodation cavity 211 inside.

[0111] Optionally, the outer shell 200 can also be a shell structure with a spherical accommodation cavity 211 inside and a square shape outside.

[0112] It should be noted that the present application embodiment does not limit the overall structural shape of the outer shell 200, as long as the accommodating cavity 211 inside it is adapted to the shape of the permanent magnet 500, and its external shape can be circular, square or other polygons, etc.

[0113] For the convenience of installation and disassembly, and the insertion or removal of the permanent magnet 500, in some embodiments, the outer shell 200 includes a first outer shell 201 and a second outer shell 202. The first outer shell 201 and the second outer shell 202 enclose to form an outer shell with an accommodating cavity 211 inside; the first outer shell 201 and the second outer shell 202 are detachably connected. That is, the first outer shell 201 and the second outer shell 202 match and can enclose to form a shell structure with a spherical accommodating cavity or an accommodating cavity of other shapes inside. The first outer shell 201 and the second outer shell 202 can adopt a detachable connection method. For example, the first outer shell 201 and the second outer shell 202 can be connected together by screws 600. Thus, it is convenient for installation and disassembly, the permanent magnet can be flexibly inserted or removed from the outer shell, which is convenient for replacement, and is safe and reliable.

[0114] As Figure 3 shown, in some embodiments, the first outer shell 201 and the second outer shell 202 are connected by screws 600.

[0115] As Figure 3 or Figure 4 shown, in some embodiments, the electromagnetic driving device further includes a sealing ring 400, and the sealing ring 400 is used to seal the accommodating cavity 211. The setting of the sealing ring 400 can prevent the leakage of the suspension or high-pressure gas, making the connection between the two half outer shells closer, with good sealing performance, and being safe and reliable.

[0116] When the outer shell 200 includes the first outer shell 201 and the second outer shell 202, there may be a gap between the two half outer shells, that is, there may be a gap around the accommodating cavity 211. This gap can be used to fill the suspension 300 into the accommodating cavity 211. After filling, the sealing ring 400 can be placed at this gap, so as to prevent the suspension 300 such as liquid mercury from leaking from the gap.

[0117] In addition, in other embodiments, the outer shell 200 further includes more than two shell parts (the Nth outer shell). For example, in addition to the first outer shell 201 and the second outer shell 202, the outer shell 200 can also include a third outer shell, a fourth outer shell, etc. A sealing ring 400 can be provided between every two mutually cooperating shell parts, so as to effectively prevent the suspension from leaking from the gap. It should be understood that the present application embodiment does not limit the number of the half outer shells or shell parts constituting the outer shell, and can be selected and set by those skilled in the art according to actual needs.

[0118] It should be noted that the present application embodiment does not limit the material, specific structural shape, etc. of the sealing ring 400, and those skilled in the art can set it according to the actual needs based on the structure of the housing 200, etc. Exemplarily, the material of the sealing ring 400 can be a soft elastic material such as silica gel or rubber.

[0119] As Figure 2 shown, in some embodiments, the electromagnet 100 includes at least one set of electromagnetic coils, and each set of electromagnetic coils is respectively arranged around the outer periphery of the housing along different directions.

[0120] Specifically, the electromagnet 100 can include three sets of electromagnetic coils, and the three sets of electromagnetic coils are respectively arranged around the outer periphery of the housing along three directions.

[0121] Furthermore, these three directions include the X-axis direction, the Y-axis direction, and the Z-axis direction. That is, one set of electromagnetic coils can be arranged around the outside of the housing 200 along the X-axis direction to generate an X-axis magnetic field; another set of electromagnetic coils can be arranged around the outside of the housing 200 along the Y-axis direction to generate a Y-axis magnetic field; another set of electromagnetic coils can be arranged around the outside of the housing 200 along the Z-axis direction to generate a Z-axis magnetic field.

[0122] It can be understood that the electromagnetic coil can adjust the magnetic induction intensity by controlling the magnitude and direction of the current. Since the electrical signal is much faster than mechanical movement, adjusting the magnetic field with an electromagnetic coil, that is, by means of electromagnetic drive, also has the characteristics of fast response and higher precision.

[0123] As Figure 2 shown, in some embodiments, the electromagnet 100 includes an electromagnetic coil, and the electromagnetic coil includes:

[0124] A first electromagnetic coil 101 for providing a magnetic field in the X-axis direction;

[0125] A second electromagnetic coil 102 for providing a magnetic field in the Y-axis direction;

[0126] A third electromagnetic coil 103 for providing a magnetic field in the Z-axis direction;

[0127] Among them, the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other. These three sets of electromagnetic coils can be respectively arranged around the outer periphery of the housing 200 along the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0128] According to an embodiment of the present application, the electromagnetic coil in the electromagnetic driving device may be disposed outside the housing 200, and the spherical permanent magnet 500 may be disposed inside the housing 200. The spherical permanent magnet 500 may be magnetized along the central axis. And the spherical permanent magnet 500 may be suspended in the spherical movement space formed inside the housing 200 by the buoyancy provided by the suspension or high-pressure gas; in this way, when the spherical permanent magnet 500 rotates in the suspension such as liquid mercury, the friction force is greatly reduced. The electromagnetic coil disposed on the periphery can form a magnetic field with a substantially constant direction inside the housing under the action of an electric current. When each group of coils is energized separately, the magnetic field directions are the X-axis, Y-axis, and Z-axis directions respectively. When the magnitude and direction of the current passing through each group of coils are changed, the magnitude and direction of the corresponding magnetic field can be changed. When any two or three of the electromagnetic coils are energized simultaneously, the magnetic fields formed by the coils inside are vectorially added to obtain a coupled magnetic field with any direction and magnitude. Under the action of the coupled magnetic field, the permanent magnet 500 rotates, and thus the magnetic control endoscope capsule can be controlled to flip. That is, by adjusting the magnitude and direction of the current of the above electromagnetic coil, the position and attitude of the spherical permanent magnet can be adjusted, and the magnitude and direction of the magnetic force received by the capsule endoscope inside the human body can be adjusted, so as to control the capsule endoscope to stably achieve various posture changes such as floating and sinking at the inside of the human body.

[0129] It should be noted that the embodiment of the present application does not limit the shape or form of the above electromagnetic coil, which may be rectangular, circular or other shapes, etc.; nor does it limit the number of turns of the electromagnetic coil. The number of turns of the electromagnetic coil can be adjusted according to the required electromagnetic force and is not limited to a single turn. The electromagnetic coil exemplarily shown in the drawings of the present application does not constitute a limitation on the electromagnetic coil. More generally, the electromagnetic coil can have any structural form.

[0130] The embodiment of the present application also does not limit the current in the electromagnetic coil, which may be alternating current or direct current.

[0131] Optionally, the electromagnetic driving device may further include an outer cover (not shown), and the outer cover covers the outside of the electromagnetic coil to achieve safety protection for the electromagnetic coil, the housing 200, and the permanent magnet 500. The power cord of the electromagnetic coil can be led out from any direction such as the upper part, lower part, or side part of the outer cover.

[0132] Optionally, the electromagnetic driving device may further include a current controller (not shown). The electromagnetic coil is electrically connected to the current controller, and the electromagnetic coil is driven by the current controller. The current controller can connect or disconnect the power supply of the electromagnetic coil. The magnetic field generated when the electromagnetic coil is energized can drive the permanent magnet to move.

[0133] Optionally, the electromagnetic driving device further includes a mounting bracket (not shown). After the permanent magnet 500, the outer shell 200, the suspension liquid 300, the sealing ring 400, the electromagnet 100, etc. form an integral body, they can be installed on the mounting bracket.

[0134] The embodiments of the present application do not limit the specific structural form, type, connection method, etc. of the above-mentioned outer cover, current controller, and mounting bracket. They can be adjusted according to the above-mentioned permanent magnet, outer shell, and electromagnetic coil. For example, the outer cover can be a hollow sphere or a hollow cylinder, etc.

[0135] In a second aspect, in some embodiments, a capsule endoscope magnetic control system is provided, including an electromagnetic driving device.

[0136] It can be understood that the capsule endoscope magnetic control system can be used to control the capsule endoscope, including the capsule endoscope and the electromagnetic driving device described above.

[0137] Those skilled in the art can understand that the capsule endoscope magnetic control system in the second aspect of the present application and the foregoing electromagnetic driving device are based on the same inventive concept. All the features and advantages described above for the electromagnetic driving device also apply to the capsule endoscope magnetic control system including the electromagnetic driving device. The related functions and principles have been described in detail in the first aspect and will not be repeated here.

[0138] It should be noted that the content not described in detail in the above description of the electromagnetic driving device and the capsule endoscope magnetic control system are all common structures or conventional operation methods that are easily conceivable by those skilled in the art. They can refer to the prior art or be selected and adjusted by those skilled in the art according to the actual situation. Therefore, the detailed description thereof can be omitted.

[0139] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0140] It should be pointed out that a part of the patent application document of this patent contains content protected by copyright. Except for making copies of the patent documents or recorded patent documents of the patent office, the copyright owner reserves the copyright.

Claims

1. An electromagnetic driving device, characterized in that, Comprising: A permanent magnet for adjusting the attitude and / or position of the capsule endoscope; A housing having an accommodation cavity inside, and the permanent magnet is adapted to be suspended in the accommodation cavity; An electromagnet, which is disposed outside the housing, and the magnetic force generated by the electromagnet can drive the permanent magnet to move in the accommodation cavity. By changing the magnitude and / or direction of the current of the electromagnet, the attitude and / or position of the permanent magnet can be adjusted, thereby realizing the adjustment of the attitude and / or position of the capsule endoscope.

2. The electromagnetic drive device according to claim 1, characterized in that The accommodation cavity is filled with a suspension liquid, and the permanent magnet can be suspended in the accommodation cavity by using the suspension liquid.

3. The electromagnetic driving device according to claim 2, wherein The density of the suspension liquid is the same as that of the permanent magnet, and at least part of the permanent magnet is located inside the suspension liquid; Alternatively, the density of the suspension liquid is greater than that of the permanent magnet, part of the permanent magnet is located inside the suspension liquid, and part of the permanent magnet is located outside the liquid surface of the suspension liquid; Alternatively, the density of the suspension liquid is less than that of the permanent magnet, and all of the permanent magnets are located inside the suspension liquid.

4. The electromagnetic driving device according to claim 2, characterized in that, The suspension liquid includes liquid mercury.

5. The electromagnetic drive device according to claim 1, characterized in that, The accommodation cavity is filled with a gas, and the permanent magnet can be suspended in the accommodation cavity by using the gas.

6. The electromagnetic driving device according to claim 1, characterized in that, The housing at least includes a first housing and a second housing, and the first housing and the second housing enclose to form the housing having an accommodation cavity inside; the first housing and the second housing are detachably connected.

7. The electromagnetic driving device according to claim 6, wherein The electromagnetic driving device further includes a sealing ring for sealing the accommodation cavity.

8. The electromagnetic drive device according to any one of claims 1-7, characterized in that, The electromagnet includes at least one group of electromagnetic coils, and each group of electromagnetic coils is respectively arranged around the outer periphery of the housing in different directions.

9. The electromagnetic drive device according to any one of claims 1-7, characterized in that, The electromagnet includes an electromagnetic coil, and the electromagnetic coil includes: A first electromagnetic coil for providing a magnetic field in the X-axis direction; A second electromagnetic coil for providing a magnetic field in the Y-axis direction; A third electromagnetic coil for providing a magnetic field in the Z-axis direction; Wherein, the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

10. A magnetic control system for a capsule endoscope, characterized in that, Comprising the electromagnetic driving device according to any one of claims 1-9.

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