Capsule endoscope probe and capsule endoscope probing method

Abstract

The application discloses a capsule endoscope detector and a capsule endoscope detection method. The capsule endoscope detector adopts a belt type design. When a user wears the belt around the waist, N sensor modules arranged in the belt can measure N geomagnetic azimuth information from multiple angles. A processing module can calculate N heading angles according to the N geomagnetic azimuth information, and can determine whether the capsule endoscope exists around the belt according to the standard deviation of the N heading angles. The belt type design makes the detection angle, range, leakage detection rate and reliability of the capsule endoscope detector high, and the sensor modules measure the geomagnetic azimuth information, which is harmless to the human body and can complete the detection task when the capsule endoscope is out of power.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a capsule endoscope detector and a capsule endoscope detection method. BACKGROUND

[0002] At present, with the development of capsule endoscope technology, more and more patients will take capsule endoscopes to complete the detection of gastrointestinal diseases. After the patient takes the capsule endoscope and completes the examination of the gastrointestinal diseases, it is necessary to detect whether the capsule endoscope is discharged from the patient's body. There are two detection methods in the prior art, namely wireless detection and X-ray detection.

[0003] The wireless detection in the prior art is realized by a wireless detector. The wireless detector receives a specific wireless signal sent by the capsule endoscope. When the wireless detector receives the specific wireless signal around the patient's body, it proves that the capsule endoscope has not been discharged from the patient's body, otherwise it proves that the capsule endoscope has been discharged from the patient's body. However, this method requires the capsule endoscope to actively emit a specific wireless signal. In actual situations, due to the size of the capsule endoscope, the power is usually consumed after completing the examination task, so that the capsule endoscope cannot actively emit a specific wireless signal, and the wireless detector cannot detect the capsule endoscope, so the reliability is low.

[0004] The X-ray detection in the prior art is realized by directly irradiating X-rays on the human body by an X-ray device, and directly judging whether the capsule endoscope is discharged from the body according to the X-ray image. However, this method has high detection cost, and X-rays have certain radiation hazards to the human body, and is not suitable for multiple examinations of whether the capsule endoscope is discharged from the patient's body. SUMMARY

[0005] The purpose of the present application is to provide a capsule endoscope detector and a capsule endoscope detection method. The waistband design makes the detection angle of the capsule endoscope detector wide, the range wide, the leakage rate low, and the reliability high. The sensor module measures the geomagnetic azimuth information, which has no harm to the human body and can complete the detection task when the capsule endoscope is out of power.

[0006] To solve the above technical problems, the present application provides a capsule endoscope detector, which comprises a waistband, a processing module and N sensor modules, N is an integer not less than 1, the processing module is arranged on the waistband, and the N sensor modules are arranged along the length direction of the waistband.

[0007] The processing module is used for receiving N geomagnetic azimuth information measured by the N sensor modules, calculating N heading angles according to the N geomagnetic azimuth information, calculating a standard deviation of the N heading angles according to the N heading angles, and determining that the capsule endoscope exists around the waistband when the standard deviation is greater than a preset threshold, otherwise, determining that the capsule endoscope does not exist around the waistband.

[0008] Preferably, the waistband further comprises a rechargeable battery for powering the processing module and the N sensor modules.

[0009] Preferably, the sensor module comprises a magnetic sensor and an accelerometer.

[0010] Preferably, the waistband further comprises a prompt module arranged on the waistband and used for prompting the user based on the determination result of the processing module.

[0011] Preferably, the N sensor modules are arranged uniformly along the length direction of the waistband.

[0012] Preferably, the waistband is made of a non-magnetic material.

[0013] Preferably, the waistband further comprises a FPC for arranging the processing module and the N sensor modules, and the FPC is arranged on the waistband.

[0014] Preferably, before the N heading angles are calculated according to the N geomagnetic azimuth information, the processing module is further used for filtering the N geomagnetic azimuth information.

[0015] Preferably, the N heading angles are calculated according to the N geomagnetic azimuth information, comprising:

[0016] The N geomagnetic azimuth information is coordinate-transformed, the N geomagnetic azimuth information is transformed to the same coordinate system, and the N heading angles are calculated according to the N geomagnetic azimuth information transformed to the same coordinate system.

[0017] To solve the above technical problems, the application further provides a capsule endoscope detection method applied to a processing module in a capsule endoscope detector, wherein the capsule endoscope detector further comprises a waistband and N sensor modules, the processing module is arranged on the waistband, and the N sensor modules are arranged along the length direction of the waistband.

[0018] The capsule endoscope detection method comprises:

[0019] Receiving N geomagnetic azimuth information measured by the N sensor modules;

[0020] Calculating N heading angles according to the N geomagnetic azimuth information;

[0021] calculating a standard deviation of the N heading angles according to the N heading angles;

[0022] judging whether the standard deviation is greater than a preset threshold value;

[0023] if yes, determining that the capsule endoscope exists around the waistband, otherwise, determining that the capsule endoscope does not exist around the waistband.

[0024] The capsule endoscope detector provided by the application adopts a waistband type design, when a user wears the waistband around the waist, N sensor modules arranged in the waistband can measure N geomagnetic azimuth information from multiple angles, a processing module can calculate N heading angles according to the N geomagnetic azimuth information, and then judge whether the capsule endoscope exists around the waistband according to the standard deviation of the N heading angles. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the prior art and embodiments, and obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 A structural schematic diagram of a capsule endoscope detector provided by the application is shown in the figure.

[0027] Figure 2 A flow chart of a capsule endoscope detection method provided by the application is shown in the figure. DETAILED DESCRIPTION

[0028] The core of the present application is to provide a capsule endoscope detector and a capsule endoscope detection method, the waistband type design makes the detection angle of the capsule endoscope detector large, the range wide, the missing detection rate low, and the reliability high, and the sensor module measures the geomagnetic azimuth information, which is harmless to the human body and can complete the detection task when the capsule endoscope is exhausted.

[0029] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0030] Please refer to Figure 1 , Figure 1 The present application provides a structure diagram of a capsule endoscope detector, which comprises a waistband 1, a processing module 2 and N sensor modules 3, N is an integer not less than 1, the processing module 2 is arranged on the waistband 1, and the N sensor modules 3 are arranged along the length direction of the waistband 1.

[0031] The processing module 2 is used for receiving N geomagnetic azimuth information measured by the N sensor modules 3, calculating N heading angles according to the N geomagnetic azimuth information, calculating the standard deviation of the N heading angles, and determining that there is a capsule endoscope around the waistband 1 when the standard deviation is greater than a preset threshold, otherwise, determining that there is no capsule endoscope around the waistband 1.

[0032] In view of the prior art, the detection of the capsule endoscope usually uses the methods of wireless detection and X-ray detection. The wireless detection method needs the capsule endoscope to have electric quantity to emit a specific wireless signal to the outside world. However, the capsule endoscope usually has small electric quantity due to the volume limitation, and the capsule endoscope needs to be detected when the electric quantity is exhausted after completing the shooting task, which leads to low reliability of the wireless detection method. Although the X-ray detection method can directly observe whether the capsule endoscope is discharged from the patient's body, the cost of X-ray detection is high, and X-ray itself has certain radiation hazards to the human body, which is not suitable for frequent detection.

[0033] In order to solve the above problems, the waistband type capsule endoscope detector is adopted, a plurality of sensor modules 3 are arranged in the detector, the plurality of sensor modules 3 are arranged along the length direction of the waistband 1, each sensor module 3 can independently measure the geomagnetic azimuth information, the processing module 2 can calculate the heading angle of each sensor module 3 according to the geomagnetic azimuth information, under the condition that there is no external magnetic field interference, all the heading angles should point to the geomagnetic south pole, that is, the directions of all the heading angles should be consistent, since the capsule endoscope contains a magnetic field, when the capsule endoscope exists around the waistband 1, the heading angles of the sensor modules 3 will deviate to different degrees, therefore, the processing module 2 calculates the standard deviation of the N heading angles, when the standard deviation is greater than a threshold value, it is proved that the sensor module is interfered by the magnetic field of the capsule endoscope, and it is determined that the capsule endoscope exists around the waistband 1. Since the sensor module 3 measures the geomagnetic azimuth information, the capsule endoscope does not need to emit a wireless signal, that is, the capsule endoscope can be detected even when the power is exhausted, and the detection process is harmless to the human body.

[0034] It should be noted that the plurality of sensor modules 3 arranged in the present application are arranged to detect the magnetic field interference of the capsule endoscope from multiple angles, and increase the working reliability of the detector, therefore, the specific number of the sensor modules 3 is not particularly limited in the present application.

[0035] In summary, the capsule endoscope detector provided by the present application adopts a waistband type design, when the user wears the waistband 1 around the waist, the N sensor modules 3 arranged in the waistband 1 can measure N geomagnetic azimuth information from multiple angles, the processing module 2 can calculate N heading angles according to the N geomagnetic azimuth information, and then determine whether the capsule endoscope exists around the waistband 1 according to the standard deviation of the N heading angles, the waistband type design makes the detection angle, range and reliability of the capsule endoscope detector large, wide, low and high respectively, and the sensor module 3 measures the geomagnetic azimuth information, which is harmless to the human body and can complete the detection task when the power of the capsule endoscope is exhausted.

[0036] On the basis of the above embodiment:

[0037] As a preferred embodiment, a rechargeable battery is further included for supplying power to the processing module 2 and the N sensor modules 3.

[0038] In the embodiment, considering that the capsule endoscope detector needs to be worn around the waist of the user in actual use, using a power cord to supply power to the capsule endoscope detector will cause inconvenience during detection, therefore, the present application further arranges a rechargeable battery in the waistband 1, which can supply power to the processing module 2 and the N sensor modules 3 during use, so as to improve the user experience, make the detection process more convenient, and improve the feasibility of the scheme.

[0039] In addition, the rechargeable battery herein can also be replaced by a disposable battery, and the present application does not make special limitation here.

[0040] As a preferred embodiment, the sensor module 3 comprises a magnetic sensor and an accelerometer.

[0041] In the embodiment, the sensor module 3 comprises a magnetic sensor and an accelerometer, and in actual use, the processing module 2 receives the magnetic field data measured by the magnetic sensor and the acceleration data measured by the accelerometer, that is, the geomagnetic orientation information is composed of the magnetic field data and the acceleration data, and the processing module 2 calculates the heading angle of each sensor module 3 according to the magnetic field data and the acceleration data, thereby increasing the feasibility of the scheme.

[0042] In addition, it should be noted that each sensor module 3 comprises at least one magnetic sensor and an accelerometer, and can also comprise a plurality of magnetic sensors and accelerometers, and the present application does not make special limitation here.

[0043] As a preferred embodiment, the scheme further comprises a prompting module arranged on the waistband 1, which is used to prompt the user based on the judgment result of the processing module 2.

[0044] In the embodiment, considering that after the detection of the capsule endoscope is completed, the user should also be prompted of the detection result, therefore, the scheme further comprises a prompting module arranged on the waistband 1, and the prompting module herein comprises but is not limited to an indicator light, a buzzer and a display screen, which can prompt the user whether there is still a capsule endoscope in the body through light, sound and text after the detector completes the detection, thereby improving the user experience and increasing the feasibility of the scheme.

[0045] As a preferred embodiment, the N sensor modules 3 are arranged along the length direction of the waistband 1 uniformly.

[0046] In the embodiment, considering that the user uses the waistband around the waist and abdomen during use, therefore, in the scheme, the N sensor modules 3 are arranged along the length direction of the waistband 1 uniformly, so that the detection angle is wider and the detection range is more comprehensive, thereby reducing the missing rate and improving the reliability of the scheme.

[0047] As a preferred embodiment, the waistband 1 is composed of a non-magnetic material.

[0048] In the embodiment, considering that the sensor module 3 detects the geomagnetic orientation information, which is easily disturbed by the external magnetic field, therefore, the waistband 1 in the scheme is composed of a non-magnetic material, thereby reducing the disturbance to the sensor module 3, improving the detection accuracy and increasing the reliability of the scheme.

[0049] As a preferred embodiment, the FPC for setting the processing module 2 and the N sensor modules 3 is further included, and the FPC is arranged on the waistband 1.

[0050] In the embodiment, considering that the actual use process of the capsule endoscope probe is around the waist and abdomen of the user, the FPC (Flexible Printed Circuit) is used to set the processing module 2 and the N sensor modules 3 in the scheme, the FPC is arranged on the waistband 1, the FPC has the characteristics of light weight, thin thickness and good bending property, is suitable for the waistband type capsule endoscope probe in the application, and the feasibility and reliability of the scheme are improved.

[0051] As a preferred embodiment, the processing module 2 is further used for filtering the N geomagnetic azimuth information before the N heading angles are calculated according to the N geomagnetic azimuth information.

[0052] In the embodiment, considering that the actual use process may exist the situation that the measurement data is inaccurate due to interference, the N geomagnetic azimuth information is filtered before the N heading angles are calculated according to the N geomagnetic azimuth information in the scheme, the interference data in the geomagnetic azimuth information is removed, the calculated heading angle is more accurate, and the reliability of the scheme is increased.

[0053] As a preferred embodiment, the N heading angles are calculated according to the N geomagnetic azimuth information, including:

[0054] The N geomagnetic azimuth information is coordinate-transformed, the N geomagnetic azimuth information is transformed to the same coordinate system, and the N heading angles are calculated according to the N geomagnetic azimuth information transformed to the same coordinate system.

[0055] In the embodiment, considering that the geomagnetic azimuth information measured by the sensor module 3 exists the situation that the coordinate systems are not unified, the N geomagnetic azimuth information is first transformed to the same coordinate system in the scheme, and then the N heading angles are calculated according to the N geomagnetic azimuth information in the same coordinate system, and the feasibility of the scheme is improved.

[0056] The application further provides a capsule endoscope detection method, which is applied to a processing module in a capsule endoscope probe, the capsule endoscope probe further includes a waistband and N sensor modules, the processing module is arranged on the waistband, and the N sensor modules are arranged along the length direction of the waistband.

[0057] Please refer to Figure 2 , Figure 2 A flowchart of a capsule endoscope detection method provided by the application, including:

[0058] S11: receiving N pieces of geomagnetic azimuth information measured by N sensor modules;

[0059] S12: calculating N heading angles according to the N pieces of geomagnetic azimuth information;

[0060] S13: calculating a standard deviation of the N heading angles according to the N heading angles;

[0061] S14: judging whether the standard deviation is greater than a preset threshold value;

[0062] If yes, going to S15, otherwise, going to S16;

[0063] S15: determining that there is a capsule endoscope around the waistband;

[0064] S16: determining that there is no capsule endoscope around the waistband.

[0065] For the capsule endoscope detection method provided by the present application, please refer to the above-mentioned capsule endoscope detector embodiment, and the present application will not be described here again.

[0066] It should also be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0067] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A capsule endoscope detector, characterized in that, It includes a waist belt, a processing module, and N sensor modules, where N is an integer not less than 1. The processing module is disposed on the waist belt, and the N sensor modules are disposed along the length direction of the waist belt. The processing module is used to receive N geomagnetic azimuth information measured by N sensor modules, calculate the heading angle of N sensor modules based on the N geomagnetic azimuth information, calculate the standard deviation of the heading angle of N sensor modules based on the heading angle of N sensor modules, and determine that a capsule endoscope exists around the waist belt when the standard deviation is greater than a preset threshold; otherwise, determine that a capsule endoscope does not exist around the waist belt; the capsule endoscope is magnetic.

2. The capsule endoscope detector as described in claim 1, characterized in that, It also includes a rechargeable battery for powering the processing module and the N sensor modules.

3. The capsule endoscope detector as described in claim 1, characterized in that, The sensor module includes a magnetic sensor and an accelerometer.

4. The capsule endoscope detector as described in claim 1, characterized in that, It also includes a prompting module set on the belt, used to provide prompts to the user based on the judgment result of the processing module.

5. The capsule endoscope detector as described in claim 1, characterized in that, N sensor modules are evenly arranged along the length of the belt.

6. The capsule endoscope detector as described in claim 1, characterized in that, The belt is made of non-magnetic material.

7. The capsule endoscope detector as described in claim 1, characterized in that, It also includes an FPC for mounting the processing module and N sensor modules, the FPC being mounted on the belt.

8. The capsule endoscope detector as described in claim 1, characterized in that, Before calculating the heading angles of the N sensor modules based on the N geomagnetic azimuth information, the processing module is also used to filter the N geomagnetic azimuth information.

9. The capsule endoscope detector as described in any one of claims 1 to 8, characterized in that, The heading angles of the N sensor modules are calculated based on the N geomagnetic azimuth information, including: The coordinates of the N geomagnetic azimuth information are transformed to the same coordinate system, and the heading angles of the N sensor modules are calculated based on the N geomagnetic azimuth information transformed to the same coordinate system.

10. A capsule endoscopy detection method, characterized in that, A processing module is used in a capsule endoscope detector, the capsule endoscope detector also includes a waist belt and N sensor modules, the processing module is disposed on the waist belt, and the N sensor modules are arranged along the length direction of the waist belt; The capsule endoscopy detection method includes: Receive N geomagnetic azimuth information obtained from N sensor modules; The heading angles of the N sensor modules are calculated based on the N geomagnetic azimuth information. The standard deviation of the heading angles of the N sensor modules is calculated based on the heading angles of the N sensor modules. Determine whether the standard deviation is greater than a preset threshold; If yes, it is determined that a capsule endoscope is present around the belt; otherwise, it is determined that a capsule endoscope is not present around the belt; the capsule endoscope is magnetic.

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