Magnetic control device and control system for capsule endoscope

Abstract

The present application relates to a magnetic control device and control system for a capsule endoscope. The magnetic control device includes a magnet; a first rotating assembly connected to the magnet, used to drive the magnet to rotate around a first rotation axis; a second rotating assembly connected to the first rotating assembly, used to drive the magnet and the first rotating assembly to rotate around a second rotation axis; a manual drive module installed on the first rotating assembly and / or the second rotating assembly, used to directly drive the first rotating assembly and / or the second rotating assembly to rotate; wherein, there is an angle between the first rotation axis and the second rotation axis. The magnetic control device of the capsule endoscope provided in the present application drives the first rotating assembly and the second rotating assembly to rotate manually, without the need for a complex transmission chain, so the overall structure is compact, small in size, and light in weight. Moreover, since it does not require components such as a motor, a reducer, and a controller, the cost is low, thereby reducing the size of the magnetic control device and reducing the cost of the magnetic control device.

Description

Technical Field

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

[0002] Currently, routine examinations of the human digestive tract using capsule endoscopy are a relatively advanced diagnostic method on the market. Compared to inserting a traditional electronic endoscope, swallowing a capsule endoscope does not cause physical or psychological discomfort to the examinee and also reduces the possibility of cross-infection.

[0003] A magnetically controlled capsule endoscope is a capsule endoscope that can actively control the inspection field through the operating end. Currently, the commonly used control method is to place a magnet outside the human body and change the orientation and posture of the magnet to cause the magnetic field around the magnet to change in an orderly manner. The magnet built into the magnetically controlled capsule endoscope is affected by the changing external magnetic field to drive the capsule endoscope, thereby achieving changes in the capsule endoscope's inspection field. However, the structure of existing electrically controlled magnetic control devices (for example, including motors, reducers, controllers, and transmission chains) is relatively complex, resulting in a large size and high cost of the magnetic control device.

[0004] Therefore, there is an urgent need for a magnetic control device and control system for a capsule endoscope to solve the above problems. Summary of the Invention

[0005] The present application provides a magnetic control device and a control system for a capsule endoscope, so as to simplify the structure of the magnetic control device, reduce the volume of the magnetic control device and lower the cost of the magnetic control device.

[0006] In a first aspect, an embodiment of the present application provides a magnetic control device for a capsule endoscope, for adjusting the state of the capsule endoscope, the magnetic control device comprising:

[0007] magnet;

[0008] a first rotating assembly connected to the magnet and configured to drive the magnet to rotate about a first rotation axis;

[0009] a second rotating assembly, connected to the first rotating assembly, and configured to drive the magnet and the first rotating assembly to rotate about a second rotation axis;

[0010] a manual driving module, installed on the first rotating assembly and / or the second rotating assembly, and configured to directly drive the first rotating assembly and / or the second rotating assembly to rotate;

[0011] Wherein, there is an included angle between the first rotation axis and the second rotation axis.

[0012] In one possible design, the first rotating assembly includes a first cavity, and the magnet is installed in the inner cavity of the first cavity;

[0013] The second rotating assembly includes a second cavity, and the magnet and at least a portion of the first rotating assembly are rotatably disposed in an inner cavity of the second cavity.

[0014] In a possible design, the first cavity includes at least a first shell and a second shell, and the first shell and the second shell form an inner cavity of the first cavity.

[0015] In a possible design, the second cavity includes at least a third shell and a fourth shell, and the third shell and the fourth shell form an inner cavity of the second cavity.

[0016] In one possible design, the first rotating assembly includes a rotating shaft arranged along the first rotation axis;

[0017] The second rotating assembly is provided with a first through hole, and the rotating shaft is mounted on the second rotating assembly through the first through hole.

[0018] In a possible design, the manual drive module includes at least one handheld rotating member, which is fixedly connected to the end of the rotating shaft. The handheld rotating member is arranged in the first through hole and can rotate relative to the first through hole.

[0019] In a possible design, the second rotating assembly further includes at least one first end cover, the first end cover is installed at the first through hole, a second through hole is provided on the first end cover, and the rotating shaft is sequentially passed through the first through hole and the second through hole.

[0020] In a possible design, at least a first bearing is disposed in the first through hole, the rotating shaft passes through the first bearing, and the first rotating assembly rotates relative to the second rotating assembly via the first bearing.

[0021] In a possible design, the magnetic control device further includes a suspension member, the suspension member is arranged along the second rotation axis, and the suspension member is used to suspend the second rotating assembly;

[0022] The second rotating assembly includes a third through hole, the hanging member passes through the third through hole, and the second rotating assembly is rotatably mounted on the hanging member.

[0023] In a possible design, the magnetron device further includes a second end cover, the second end cover is disposed at the third through hole, and the second end cover is connected to the suspension member.

[0024] In one possible design, at least a second bearing is provided in the third through hole, the suspension member is passed through the second bearing, the suspension member includes a convex portion, the second bearing partially abuts against the convex portion, and the second rotating assembly rotates relative to the suspension member through the second bearing.

[0025] In a possible design, there are at least two second bearings; the inner wall of the third through hole is provided with at least one protrusion, the second bearing abuts against the protrusion, and adjacent second bearings are spaced apart from the protrusion.

[0026] A second aspect of the present application provides a control system for a capsule endoscope, comprising the magnetic control device described above and a position adjustment device for adjusting the position of the magnetic control device.

[0027] The magnetic control device of the capsule endoscope provided in the present application is capable of manually driving the first rotating assembly and the second rotating assembly to rotate by manipulating the manual drive module, thereby driving the magnet to rotate. At the same time, the provision of the manual drive module enables the magnetic control device to adjust the magnet without the need for a complex transmission chain (such as a motor, a reducer, a controller and other components), so the overall structure is compact, small in size and light in weight. At the same time, since the entire device does not require components such as a motor, a reducer, a controller, etc., the volume of the magnetic control device can be reduced and the cost of the magnetic control device can be reduced. In addition, the overall structure of the magnetic control device is optimized, the assembly difficulty of the magnetic control device is reduced, the assembly efficiency is improved, and subsequent maintenance and other operations are facilitated. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A front view of the magnetic control device of the capsule endoscope provided in an embodiment of the present application;

[0029] Figure 2 for Figure 1 A schematic cross-sectional view of the magnetron device shown;

[0030] Figure 3 for Figure 1 Schematic diagram of the exploded view of the magnetron device shown.

[0031] Reference numerals:

[0032] L1 - first axis of rotation;

[0033] L2 - second axis of rotation;

[0034] X-horizontal direction;

[0035] Y-vertical direction;

[0036] 1- Magnet;

[0037] 2-first rotating assembly;

[0038] 21- first housing;

[0039] 22- second housing;

[0040] 23-first cavity;

[0041] 24-rotation axis;

[0042] 25-Handheld rotating piece;

[0043] 3- second rotating assembly;

[0044] 31- third housing;

[0045] 32- fourth housing;

[0046] 33- second cavity;

[0047] 34-first through hole;

[0048] 35-first end cover;

[0049] 351-second through hole;

[0050] 36-third through hole;

[0051] 361- bulge;

[0052] 4- second end cap;

[0053] 5-suspension parts;

[0054] 51-convex part;

[0055] 61-first bearing;

[0056] 62- second bearing;

[0057] 621-inner circle;

[0058] 622-outer circle.

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0060] The present application will be 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 intended to limit the present application.

[0061] In the description of the embodiments of this application, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "plurality" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense. For example, "connected" can mean 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 skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0062] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present application are described from the perspectives shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also indirectly connected to the other element "on" or "under" through an intermediate element.

[0063] like Figure 1 As shown, it is a front view of the magnetic control device of the capsule endoscope provided in an embodiment of the present application; Figure 2 As shown, it is Figure 1 A schematic cross-sectional view of the magnetic control device shown; Figure 3 As shown, it is Figure 1 Schematic diagram of the exploded view of the magnetron device shown.

[0064] See also Figures 1 to 3 , a magnetic control device of a capsule endoscope provided in an embodiment of the present application is used to adjust the state of a capsule endoscope (not shown in the figure), and the magnetic control device includes a magnet 1, a first rotating component 2, a second rotating component 3 and a manual drive module. The first rotating component 2 is connected to the magnet 1 (including direct connection or indirect connection through other components) and is used to drive the magnet 1 to rotate around the first rotation axis L1. The second rotating component 3 is connected to the first rotating component 2 (including direct connection or indirect connection through other components) and is used to drive the magnet 1 and the first rotating component 2 to rotate around the second rotation axis L2. There is an angle between the first rotation axis L1 and the second rotation axis L2, wherein the angle between the first rotation axis L1 and the second rotation axis L2 can be 45°, 60° or 90°, etc. In the following, the angle between the two is 90°, that is, the first rotation axis L1 and the second rotation axis L2 are perpendicular to each other for explanation.

[0065] The manual drive module directly and manually drives the first rotating assembly 2 and / or the second rotating assembly 3 to rotate, thereby driving the rotation of the magnet 1. During the rotation of the magnet 1, the magnetic field around it changes in an orderly manner, thereby controlling the movement of the capsule endoscope in the human body. The above-mentioned "direct drive" means that when the manual drive module drives the first rotating assembly 2 and / or the second rotating assembly 3, no other transmission structure is required. The manual drive module alone can achieve the rotation of the first rotating assembly 2 and / or the second rotating assembly 3.

[0066] The magnetic control device of the capsule endoscope provided in the present application is capable of manually driving the first rotating component 2 and the second rotating component 3 to rotate by manipulating the manual drive module, thereby driving the magnet 1 to rotate. The provision of the manual drive module enables the magnetic control device to adjust the magnet 1 without the need for a complex transmission chain (such as a motor, a reducer, a controller and other components), so the overall structure is compact, small in size and light in weight. At the same time, since the entire device does not require components such as a motor, a reducer, and a controller, the volume of the magnetic control device can be reduced and the cost of the magnetic control device can be reduced. At the same time, the overall structure of the magnetic control device is optimized, the difficulty of assembling the magnetic control device is reduced, the assembly efficiency is improved, and subsequent maintenance and other operations are facilitated.

[0067] It is understood that the magnetic control device specifically provides the capsule endoscope with an external magnetic field capable of driving its movement by adjusting the state (e.g., angle) of the magnet 1. To facilitate adjustment of the magnet 1, the magnet 1 in the embodiment of the present application can be set to a spherical shape. In other embodiments of the present application, the magnet 1 can also be other shapes that facilitate adjustment of its posture. The present application does not limit the shape of the magnet 1, as long as it can facilitate adjustment of the posture of the capsule endoscope. In addition, to reduce the radiation damage to the human body caused by the magnet 1, the magnet 1 can be made of permanent magnetic materials such as neodymium iron boron, ferroferric oxide, samarium cobalt, or aluminum nickel cobalt that have little radiation damage to the human body.

[0068] In some embodiments, as Figure 2 As shown, the first rotating assembly 2 includes a first cavity 23, which includes at least a first shell 21 and a second shell 22. When the first cavity 23 includes the first shell 21 and the second shell 22, the first shell 21 and the second shell 22 form the inner cavity of the first cavity 23. Of course, in addition to the first shell 21 and the second shell 22, the first cavity 23 may also include other structures, such as a fifth shell (not shown). The first shell 21, the second shell 22 and the fifth shell form the inner cavity of the first cavity 23.

[0069] The magnet 1 is fixed in the inner cavity of the first cavity 23, so that the first rotating assembly 2 and the magnet 1 are connected, so that the magnet 1 rotates along with the first cavity 23. At the same time, when the magnet 1 is fixed in the inner cavity of the first cavity 23, the inner cavity can protect the magnet 1 and improve the service life of the magnetron device.

[0070] In a specific embodiment, the magnet 1 can be fixed to the first shell 21 and / or the second shell 22 by an external structural member. For example, the first shell 21 and / or the second shell 22 is provided or formed with a mounting hole, and the magnet 1 is provided with a threaded hole corresponding to the mounting hole, and the magnet 1 and the first shell 21 and / or the second shell 22 are fixed by a threaded member. In another specific embodiment, the magnet 1 can also be fixed to the first shell 21 and the second shell 22 by the matching relationship between the first shell 21 and the second shell 22. For example, when the first shell 21 and the second shell 22 cooperate to form the first cavity 23, the magnet 1 can be completely wrapped. That is, at this time, the shape and size of the inner cavity of the first cavity 23 are adapted to the shape and size of the magnet 1, thereby realizing the connection between the magnet 1 and the first rotating assembly 2, and at this time, it is no longer necessary to fix the magnet 1 and the first rotating assembly 2 by an external structural member. Alternatively, in other embodiments of the present application, the magnet 1 can also be bonded to the inner cavity of the first cavity 23 by an adhesive, which will not be repeated here. In addition, the first shell 21 and the second shell 22 may be matched in a manner such as threaded connection, clip connection, riveting, etc., which is not specifically limited in this application.

[0071] In some embodiments, as Figure 2 As shown, the second rotating assembly 3 includes a second cavity 33, which includes at least a third shell 31 and a fourth shell 32. When the second cavity 33 includes the third shell 31 and the fourth shell 32, the third shell 31 and the fourth shell 32 form the inner cavity of the second cavity 33. Of course, in addition to the third shell 31 and the fourth shell 32, the second cavity 33 may also include other structures, such as a sixth shell (not shown). The third shell 31, the fourth shell 32, and the sixth shell form the inner cavity of the second cavity 33.

[0072] like Figure 2 As shown, the magnet 1 and at least a portion of the first rotating component 2 are rotatably disposed within the second cavity 33. Specifically, the magnet 1 can rotate about the first rotation axis L1 within the second cavity 33, driven by the manual drive module. Simultaneously, driven by the second rotating component 3, the magnet 1 and the first rotating component 2 can rotate along with the second rotating component 3.

[0073] In this embodiment, since the magnet 1 is located within the first cavity 23 of the first rotating assembly 2, and at least a portion of the first cavity 23 is located within the second cavity 33 of the second rotating assembly 3, that is, the second cavity 33, the first cavity 23, and the magnet 1 are sequentially nested, this not only enables the first rotating assembly 2 and / or the second rotating assembly 3 to drive the magnet 1 to rotate, but also reduces the size of the magnetron device. In addition, the sequential nesting design of the second cavity 33, the first cavity 23, and the magnet 1 also protects the magnet 1 and the first cavity 23, thereby to a certain extent increasing the service life of the magnetron device.

[0074] When the magnet 1 is spherical, the first cavity 23 for accommodating the magnet 1 may be spherical. Similarly, the second cavity 33 for accommodating at least a portion of the first cavity 23 may be spherical.

[0075] In another embodiment, the second cavity 33 can be set as a hemispherical shell structure, and the first cavity 23 can be partially located in the second cavity 33. Since the second cavity 33 is set as a hemispherical shell structure, it can save material and reduce the weight of the magnetron device.

[0076] In some embodiments, as Figure 3 As shown, the first cavity 23 is provided with a rotating shaft 24 arranged along the first rotation axis L1. In addition, the second cavity 33 is provided with a first through hole 34. The rotating shaft 24 passes through the first through hole 34 and is fixedly connected to the first cavity 23. The rotating shaft 24 can rotate relative to the first through hole 34. When the rotating shaft 24 rotates, it can drive the first cavity 23 to rotate, and further drive the magnet 1 located in the inner cavity of the first cavity 23 to rotate.

[0077] As described above, when the second cavity 33, the first cavity 23 and the magnet 1 are sequentially socketed, by setting the first through hole 34 in the second cavity 33, the rotating shaft 24 can pass through the first through hole 34 and the first cavity 23, thereby realizing the first cavity 23 at least partially located in the inner cavity of the second cavity 33 being driven to rotate by the rotating shaft 24.

[0078] Among them, when the second cavity 33 includes the third shell 31 and the fourth shell 32, the first through hole 34 can be formed in the third shell 31, the first through hole 34 can also be formed in the fourth shell 32, and the first through hole 34 can also be formed by the third shell 31 and the fourth shell 32 cooperating with each other.

[0079] Specifically, the second cavity 33 may include one or two first through-holes 34. When one first through-hole 34 is included, the first through-hole 34 is disposed on one side of the second cavity 33 along the first rotation axis L1. In this case, the free end of each of the two rotation shafts 24 in the first cavity 23 passes through the first through-hole 34, while the free end of the other rotation shaft 24 is located within the interior of the second cavity 33 and is able to rotate freely. When the second cavity 33 includes two first through-holes 34, the two first through-holes 34 are disposed on either side of the second cavity 33 along the first rotation axis L1. In this case, the free ends of the two rotation shafts 24 in the first cavity 23 respectively pass through the corresponding first through-hole 34 and are able to rotate relative to the corresponding first through-hole 34.

[0080] In some embodiments, as Figure 2 and Figure 3 As shown, the manual drive module may include at least one handheld rotating member 25, which is fixedly connected to the rotating shaft 24. The handheld rotating member 25 is disposed in the first through hole 34 and can rotate relative to the first through hole 34, thereby driving the rotating shaft 24 to rotate relative to the first through hole 34. The handheld rotating member 25 and the rotating shaft 24 can be connected by threaded connection, clamping connection, pin connection, riveting, etc., as long as the connection between the two can be achieved.

[0081] In this embodiment, when the manual drive module includes a handheld rotating member 25, the user can manually drive the handheld rotating member 25 to rotate, thereby driving the rotating shaft 24 connected to the handheld rotating member 25 to rotate relative to the first through hole 34, and then driving the first rotating component 2 connected to the rotating shaft 24 (specifically driving the first cavity 23) to rotate, and the first cavity 23 drives the magnet 1 located in its inner cavity to rotate, thereby realizing the control of the rotation of the magnet 1 through the handheld rotating member 25.

[0082] Among them, the handheld rotating part 25 can be a rotating button, or a rotating handle or other components protruding from the outer surface of the second rotating component 3. As long as it can be manually driven to rotate and is connected to the rotating shaft 24, the present application does not limit the specific structure and size of the handheld rotating part 25. As long as the structure can manually drive the rotating shaft 24 to rotate, it is within the protection scope of this application.

[0083] The manual drive module may include one or two handheld rotating members 25. When one handheld rotating member 25 is included, the handheld rotating member 25 is connected to a free end of the rotating shaft 24. The user can control the first cavity 23 to drive the magnet 1 to rotate by rotating the handheld rotating member 25. When two handheld rotating members 25 are included, the two handheld rotating members 25 are respectively connected to the two free ends of the rotating shaft 24. The user can control the first cavity 23 to drive the magnet 1 to rotate by rotating at least one handheld rotating member 25. That is, the two handheld rotating members 25 can be rotated simultaneously, or any one of the handheld rotating members 25 can be rotated, thereby making manual operation more convenient.

[0084] In some embodiments, as Figure 3 As shown, the second rotating assembly 3 further includes at least one first end cap 35, which is mounted on the second cavity 33 and located at the first through hole 34, and the handheld rotating member 25 and the rotating shaft 24 are both capable of rotating relative to the first end cap 35. When the second cavity 33 is provided with a first through hole 34 and the manual drive module includes a handheld rotating member 25, the second rotating assembly 3 includes a first end cap 35, and the first end cap 35 is disposed at the first through hole 34 and connected to the second cavity 33. At the same time, the rotating shaft 24 is connected to the handheld rotating member 25 on the side of the first end cap 35 away from the magnet 1.

[0085] When the second cavity 33 is provided with two first through holes 34 and the manual drive module includes two handheld rotating members 25, the second rotating assembly 3 includes two first end caps 35, and the two first end caps 35 are respectively provided at the corresponding first through holes 34 and connected to the third shell 31 and the fourth shell 32 of the second cavity 33. At the same time, the rotating shaft 24 is connected to the corresponding handheld rotating member 25 on the side of each first end cap 35 away from the magnet 1. When two first end caps 35 are provided, the stability and reliability of the rotation of the first rotating assembly 2 can be increased.

[0086] Specifically, the first end cover 35 may be disposed on the outside of the first through hole 34 (eg, screw-fixed on the outside of the first through hole 34 ).

[0087] More specifically, if Figure 3 As shown, a second through hole 351 is provided on the first end cover 35, and the second through hole 351 is communicated with the corresponding first through hole 34, so that the corresponding rotating shaft 24 can pass through the first through hole 34 and the second through hole 351 in sequence and be connected to the first cavity 23, and the rotating shaft 24 can rotate relative to the second through hole 351, so that the first rotating component 2 and the magnet 1 can be driven to rotate through the rotating shaft 24.

[0088] In some embodiments, as Figure 2As shown, at least a first bearing 61 is provided in the first through hole 34 , the rotating shaft 24 passes through the first bearing 61 , and the rotating shaft 24 rotates relative to the second cavity 23 through the first bearing 61 , thereby allowing the first rotating component 2 to rotate relative to the second rotating component 3 through the first bearing 61 .

[0089] In some specific embodiments, the manual drive module includes two handheld rotating members 25. The second cavity 33 is provided with two first through-holes 34. The first cavity 23 is provided with two rotating shafts 24. The first bearings 61 are disposed in each of the two first through-holes 34. There can be one or more first bearings 61 in each first through-hole 34, so that the rotating shafts 24 are respectively disposed in corresponding first bearings 61. The rotating shafts 24 rotate relative to the first through-holes 34 via the corresponding first bearings 61, thereby enabling the first rotating assembly 2 to rotate relative to the second rotating assembly 3. The provision of first bearings 61 in both first through-holes 34 improves the stability and reliability of the rotating shafts 24 rotation, thereby improving the stability and reliability of the manual adjustment of the magnetic control device. Furthermore, in this embodiment, the user can rotate both rotating shafts 24 using both handheld rotating members 25, or can rotate one of the rotating shafts 24 using one of the handheld rotating members 25. Both methods enable the first rotating assembly 2 to rotate relative to the second rotating assembly 3.

[0090] In other embodiments, when the manual drive module includes a handheld rotating part 25, the second cavity 33 is provided with a first through hole 34, and the above-mentioned first bearing 61 is provided in the first through hole 34, and one first bearing 61 can be provided in the first through hole 34, or multiple first bearings 61 can be provided.

[0091] In the above embodiments, Figures 1 to 3 As shown, the magnetic control device may further include a suspension member 5, and the suspension member 5 may be arranged along the second rotation axis L2, and the suspension member 5 is used to suspend the magnet 1. Specifically, as Figure 2 and Figure 3 As shown, the second rotating assembly 3 includes a third through hole 36. This third through hole 36 is disposed in the second cavity 33 of the second rotating assembly 3 and communicates with the interior of the second cavity 33. The suspension member 5 extends through this third through hole 36 into the interior of the second cavity 33 and is connected to the second cavity 33, thereby mounting the second rotating assembly 3 on the suspension member 5. Furthermore, to enable the second rotating assembly 3 to rotate about the second rotation axis L2, the second rotating assembly 3 is rotationally connected to the suspension member 5.

[0092] When the second rotating assembly 3 rotates relative to the suspension member 5 , it can drive the first rotating assembly 2 connected to the second rotating assembly 3 to rotate, and further drive the magnet 1 connected to the first rotating assembly 2 to rotate.

[0093] In some embodiments, the second cavity 33 includes a third shell 31 and a fourth shell 32, and the third through hole 36 can be formed in the third shell 31 or the fourth shell 32, or can be formed by the third shell 31 and the fourth shell 32 cooperating with each other. Figure 2 and Figure 3 In the illustrated embodiment, the third through hole 36 is disposed in the third housing 31 .

[0094] In some embodiments, as Figure 2 and Figure 3 As shown, the magnetron device may further include a second end cap 4, which is mounted on the second cavity 33, specifically, on the third through hole 36 of the second cavity 33. The suspension member 5 can be passed through the second end cap 4, and the second end cap 4 can support and limit the movement of the suspension member 5, thereby achieving a connection between the suspension member 5 and the second rotating assembly 3.

[0095] Specifically, if Figure 3 As shown, the outer wall of the suspension member 5 is provided with at least two external threads. Among them, the external thread located at the top is used to connect to the position adjustment device of the capsule endoscope control system, and the position adjustment device is used to adjust the position of the suspension member 5 connected thereto, thereby adjusting the position of the magnetic control device. The external thread located at the bottom is used to connect to the second end cap 4, that is, the second end cap 4 and the suspension member 5 are threadedly connected, thereby simplifying the disassembly and assembly operations and facilitating the replacement or maintenance of the various components of the magnetic control device. Among them, the position adjustment device is usually installed on the ground, and the magnetic control device is fixedly suspended from the position adjustment device. The position adjustment device can drive the magnetic control device to move forward and backward, up and down, and left and right to facilitate detection.

[0096] More specifically, if Figure 2 and Figure 3 As shown, a second bearing 62 is disposed within the third through-hole 36. The suspension member 5 is inserted through the second bearing 62, allowing the second rotating assembly 3 to rotate relative to the suspension member 5 about the second rotation axis L2 via the second bearing 62. The suspension member 5 includes a protrusion 51 that protrudes radially outward from the suspension member 5. Along the second rotation axis L2 (the axial direction of the suspension member 5), the second bearing 62 is disposed between the second end cap 4 and the protrusion 51. Along the second rotation axis L2 (the axial direction of the suspension member 5), the second bearing 62 abuts the second end cap 4 and the protrusion 51 at its ends, respectively.

[0097] In this embodiment, by adding the second bearing 62 at the position where the suspension member 5 and the second rotating assembly 3 rotate relative to each other, the second rotating assembly 3 can rotate smoothly and reduce the resistance to the rotation of the second rotating assembly 3 relative to the suspension member 5. At the same time, as described above, by adding the first bearing 61 at the position where the first rotating assembly 2 and the second rotating assembly 3 rotate relative to each other, the first rotating assembly 2 can rotate smoothly and reduce the resistance to the rotation of the first rotating assembly 2 relative to the second rotating assembly 3. This reduces the force required by the user to rotate the rotating shaft 24 by holding the rotating member 25, and is easier to operate manually.

[0098] Among them, such as Figure 3 As shown, the second bearing 62 includes an inner ring 621 and an outer ring 622. The inner ring 621 is sleeved on the suspension member 5, and the outer ring 622 is connected to the side wall of the second cavity 33. When the second rotating component 3 rotates, it can drive the outer ring 622 to rotate relative to the inner ring 621, thereby realizing the rotation of the second rotating component 3 relative to the suspension member 5.

[0099] Specifically, if Figure 2 As shown, along the direction of the second rotation axis L2 (the axial direction of the suspension 5), the protrusion 51 of the suspension 5 abuts against at least part of the end face of the inner ring 621 of the second bearing 62, thereby realizing the connection between the suspension 5 and the second rotating component 3 along the axial direction of the suspension 5.

[0100] In some embodiments, as Figure 2 As shown, in the magnetic control device, there are at least two second bearings 62, and the inner wall of the third through hole 36 of the second rotating assembly 3 is provided with at least one protrusion 361, which protrudes radially toward the interior of the third through hole 36. The protrusion 361 can be an annular structure, or the protrusion 361 can include a plurality of mutually spaced protrusions, and the plurality of protrusions are distributed along the circumference of the third through hole 36.

[0101] Specifically, when there are two or more second bearings 62 and one or more protrusions 361 (not shown in the figure), the second bearings 62 and the protrusions 361 are arranged alternately along the direction of the second rotation axis L2, that is, the protrusions 361 are located between adjacent second bearings 62, and the second bearings 62 are located between adjacent protrusions 361. Figure 2In the illustrated embodiment, when two second bearings 62 and one protrusion 361 are included, the protrusion 361 is located between two adjacent second bearings 62 along the second rotation axis L2 (the axial direction of the suspension member 5), and both end surfaces of the protrusion 361 along the second rotation axis L2 abut against the two second bearings 62. Furthermore, the lower second bearing 62 is located between the protrusion 361 and the convex portion 51, abutting against both, while the upper second bearing 62 is located between the protrusion 361 and the second end cap 4, abutting against both, thereby achieving connection between the suspension member 5, the second end cap 4, and the second cavity 33 along the second rotation axis L2.

[0102] More specifically, if Figure 2 In the embodiment shown, the inner ring 621 of the second bearing 62 located above abuts against the second end cover 4, and the outer ring 622 abuts against the protrusion 361, and the inner ring 621 of the second bearing 62 located below abuts against the convex portion 51, and the outer ring 622 abuts against the protrusion 361, thereby enabling the second rotating component 3 to rotate relative to the second end cover 4 and the suspension member 5.

[0103] In some embodiments, the first rotation axis L1 can be co-directional with the horizontal direction X, and the second rotation axis L2 can be co-directional with the vertical direction Y. When the magnetic control device is in operation, the first bearing 61 is primarily supported by a force along the vertical direction Y, which is the radial direction of the first bearing 61. This means that the first bearing 61 is subject to radial stress. Therefore, the first bearing 61 can be a deep groove ball bearing or an angular contact bearing to ensure that the first bearing 61 can withstand sufficient radial stress. The second bearing 62 is primarily supported by a force along the vertical direction Y, which is the axial direction of the second bearing 62. This means that the second bearing 62 is subject to axial stress. Therefore, the second bearing 62 can be an angular contact bearing to ensure that the second bearing 62 can withstand sufficient axial stress.

[0104] It is worth mentioning that in some embodiments of the present application, the first rotating assembly 2 further includes a first rotation locking member (not shown). The first rotation locking member can lock the rotation of the magnet 1 about the first rotation axis L1, thereby limiting the rotation of the rotating shaft 24 relative to the second cavity 33. Specifically, the first rotation locking member can be disposed on the second cavity 33, on the first end cap 35, or on the handheld rotating member 25, as long as it is convenient for operation. More specifically, the first rotation locking member can be a spring pin, a locking knob, or a locking screw, among other structures.

[0105] In addition, in some embodiments of the present application, the second rotating assembly 3 further includes a second rotating locking member (not shown). The second rotating locking member can lock the rotation of the magnet 1 around the second rotation axis L2, that is, limit the rotation of the second cavity 33 relative to the suspension member 5. Specifically, the second rotating locking member can be provided on the second cavity 33, or on the first end cover 35 or the second end cover 4, or on the handheld rotating member 25, as long as it is convenient to operate. More specifically, the first rotating locking member can be a spring pin, a locking knob, a locking screw or other structures.

[0106] In addition, an embodiment of the present application also provides a control system for a capsule endoscope, which includes the magnetic control device mentioned above and a position adjustment device for adjusting the position of the magnetic control device (not shown in the figure). It should be pointed out that the position adjustment device can refer to the patent application number 201310136094.0, that is, the position adjustment device is a three-axis (i.e., X-axis, Y-axis and Z-axis) displacement base to change the position of the magnetic control device. For the sake of ease of operation, in some embodiments, the manual drive module of the magnetic control device can be set on the position adjustment device or other structures of the control system, as long as it is convenient for personnel to operate and adjust the magnet.

[0107] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A magnetic control device for a capsule endoscope, used for adjusting the state of the capsule endoscope, characterized in that: The magnetron device comprises: magnet (1); a first rotating assembly (2), the first rotating assembly (2) being connected to the magnet (1) and being used to drive the magnet (1) to rotate around a first rotation axis (L1); a second rotating assembly (3), the second rotating assembly (3) being connected to the first rotating assembly (2) and being used to drive the magnet (1) and the first rotating assembly (2) to rotate around a second rotation axis (L2); a manual drive module, mounted on the first rotating assembly (2) and / or the second rotating assembly (3), and used to directly drive the first rotating assembly (2) and / or the second rotating assembly (3) to rotate; wherein an angle is formed between the first rotation axis (L1) and the second rotation axis (L2); The magnetic control device further comprises a suspension member (5), the suspension member (5) being arranged along the second rotation axis (L2), the suspension member (5) being used to suspend the second rotating assembly (3); The second rotating assembly (3) comprises a third through hole (36), the hanging member (5) passes through the third through hole (36), and the second rotating assembly (3) is rotatably mounted on the hanging member (5); The magnetron device further comprises a second end cover (4), the second end cover (4) being arranged at the third through hole (36), and the second end cover (4) being connected to the suspension member (5); At least a second bearing (62) is provided in the third through hole (36), the suspension member (5) is passed through the second bearing (62), the suspension member (5) includes a convex portion (51), the second bearing (62) partially abuts against the convex portion (51), and the second rotating assembly (3) rotates relative to the suspension member (5) via the second bearing (62); There are at least two second bearings (62); the inner wall of the third through hole (36) is provided with at least one protrusion (361); the second bearing (62) abuts against the protrusion (361), and adjacent second bearings (62) are spaced apart from the protrusion (361); The second bearing (62) includes an inner ring (621) and an outer ring (622), wherein the inner ring (621) is sleeved on the suspension member (5), and the outer ring (622) is connected to the side wall of the second cavity (33) of the second rotating assembly (3); the inner ring (621) of the second bearing (62) located above abuts against the second end cover (4), and the outer ring (622) abuts against the protrusion (361); the inner ring (621) of the second bearing (62) located below abuts against the convex portion (51), and the outer ring (622) abuts against the protrusion (361), so that the second rotating assembly (3) can rotate relative to the second end cover (4) and the suspension member (5).

2. The magnetron device according to claim 1, characterized in that The first rotating assembly (2) comprises a first cavity (23), and the magnet (1) is installed in the inner cavity of the first cavity (23); The second rotating assembly (3) comprises a second cavity (33), and the magnet (1) and at least part of the first rotating assembly (2) are rotatably arranged in the inner cavity of the second cavity (33).

3. The magnetron device according to claim 2, characterized in that The first cavity (23) comprises at least a first shell (21) and a second shell (22), and the first shell (21) and the second shell (22) enclose an inner cavity of the first cavity (23).

4. The magnetron device according to claim 2, characterized in that The second cavity (33) comprises at least a third shell (31) and a fourth shell (32), and the third shell (31) and the fourth shell (32) enclose an inner cavity of the second cavity (33).

5. The magnetron device according to any one of claims 1 to 4, characterized in that: The first rotating assembly (2) comprises a rotating shaft (24) arranged along the first rotating axis (L1); The second rotating assembly (3) is provided with a first through hole (34), and the rotating shaft (24) is mounted on the second rotating assembly (3) through the first through hole (34).

6. The magnetron device according to claim 5, characterized in that The manual drive module comprises at least one handheld rotating member (25), the handheld rotating member (25) being fixedly connected to the end of the rotating shaft (24), the handheld rotating member (25) being arranged in the first through hole (34) and being rotatable relative to the first through hole (34).

7. The magnetron device according to claim 5, characterized in that The second rotating assembly (3) further comprises at least one first end cover (35), the first end cover (35) being mounted on the first through hole (34), a second through hole (351) being provided on the first end cover (35), and the rotating shaft (24) being sequentially passed through the first through hole (34) and the second through hole (351).

8. The magnetron device according to claim 5, characterized in that: At least a first bearing (61) is provided in the first through hole (34), the rotating shaft (24) passes through the first bearing (61), and the first rotating assembly (2) rotates relative to the second rotating assembly (3) via the first bearing (61).

9. A control system for a capsule endoscope, characterized in that: The invention comprises the magnetic control device according to any one of claims 1 to 8 and a position adjustment device for adjusting the position of the magnetic control device.

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