Shielding device and magnetically controlled capsule endoscope system

Abstract

This invention discloses a shielding device and a magnetically controlled capsule endoscope system. The shielding device is used to shield a strongly magnetic control component supported by a support frame. It includes a shielding cover and a lifting mechanism. The shielding cover is connected to the lifting mechanism, which drives the shielding cover to slide towards or away from the control component. The shielding device also includes a limiting structure that contacts the control component and / or the support frame to restrict movement of the control component supported by the support frame. This invention effectively shields the magnetic field of the control component by using a shielding device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a shielding device and a magnetically controlled capsule endoscope system. Background Technology

[0002] In existing technologies, magnetically controlled capsule endoscopy systems include a capsule endoscope and a magnetic control system. The main control unit of the magnetic control system can control the movement mode, path, and orientation angle of the capsule endoscope. In practical use, the main control unit moves to its working area, or the patient enters the working area of ​​the main control unit, and then the capsule endoscope is moved within the digestive tract to capture images of the digestive tract.

[0003] The main control component of the magnetic control system used to control the capsule endoscope is a strong magnet made of neodymium iron boron (NdFeB). This magnet is relatively large, with a surface magnetic field strength exceeding 850 mT, thus exerting a strong magnetic force on ferromagnetic objects or objects containing ferromagnetic components. Therefore, when the main control component is unshielded and stationary, the lack of shielding in its environment can affect nearby magnetically sensitive devices, causing them to malfunction. These magnetically sensitive devices include implantable medical components and other electronic components. Furthermore, during the movement of the main control component, the absence of a shielded magnetic field environment can affect or even damage surrounding ferromagnetic objects or equipment. In existing technologies, a separate room is typically used to create a safe zone around the magnetic control system, preventing magnetically sensitive devices from entering this zone and ensuring the safe operation of the magnetic control system.

[0004] Because the magnetic control system has a control component with a strong magnetic field, the magnetic control system (including at least the control component with a strong magnetic field) needs to be effectively shielded to prevent the control component from damaging other magnetically sensitive devices during movement and storage. Summary of the Invention

[0005] To address the safety hazards posed by the strong magnetic attraction of the control unit during movement, this invention provides a shielding device and a magnetically controlled capsule endoscope system. This device effectively shields the magnetic field of the control unit within the magnetically controlled capsule endoscope system and provides a hardware foundation for quickly switching between the working and shielding states of the control unit.

[0006] According to a first aspect of the present invention, a shielding device is provided for shielding a strongly magnetic control component supported by a shielding bracket, comprising:

[0007] A shielding cover and a lifting mechanism, wherein the shielding cover is connected to the lifting mechanism, and the lifting mechanism drives the shielding cover to slide along a direction closer to or further away from the control main component;

[0008] The shielding device further includes a limiting structure, which contacts the control main component and / or the bracket, and is used to restrict the movement of the control main component supported by the bracket.

[0009] Optionally, the lifting mechanism includes:

[0010] Sliding support component;

[0011] A sliding assembly, fixedly connected to the shielding cover and sliding along the sliding support, to move the shielding cover away from or around the control main component; and,

[0012] The elevator and the push rod that controls the raising and lowering of the shielding cover via the elevator, wherein the push rod and the shielding cover are connected to drive the shielding cover to slide in a direction closer to or away from the control unit.

[0013] Optionally, the limiting structure includes a support structure and a limiting member. The limiting member is disposed at one end of the support structure near the control main component. The limiting member contacts the control main component and / or the bracket under the support of the support structure and restricts the movement of the control main component.

[0014] Optionally, the bracket is a robotic arm, the support structure includes a support frame, and the limiting member includes a clamping component;

[0015] The support frame is used to support the clamping component;

[0016] The clamping component is fixed to the top of the support frame and is used to clamp the robotic arm to restrict the movement of the control unit.

[0017] Optionally, the robotic arm includes a first sub-arm and a second sub-arm that are rotatably connected, and the clamping component is a groove;

[0018] The groove is used to embed the second sub-arm. When the second sub-arm is embedded in the groove, the projections of the first sub-arm and the second sub-arm onto the target plane are two straight lines with a fixed included angle. The target plane is the plane where the bottom of the groove is located.

[0019] Furthermore, during the rotation of the first sub-arm, there is only one position in which the second sub-arm is inserted into the groove.

[0020] Optionally, the limiting structure further includes a grooved lifting mechanism, which controls the lifting of the support frame so that the clamping component can be raised and lowered by means of the grooved lifting mechanism and the support frame.

[0021] Optionally, the support structure includes a support platform, the shielding cover is sleeved on the outside of the support platform, and the sliding support is disposed on one side of the support platform;

[0022] The support platform includes a fixed frame and a support plate. The support plate is installed through the fixed frame and is used to support the main control component.

[0023] The limiting member is disposed on the edge of the support plate facing the control main component to restrict the movement of the control main component.

[0024] Optionally, the limiting member includes a protective sliding plate, which is disposed at the edge of the support plate, and the side of the protective sliding plate facing the shield in the upright state is a smooth surface.

[0025] Optionally, the support plate has a sliding plate groove on its surface;

[0026] The protective sliding plate is installed in the slot of the sliding plate groove in a manner that rotates around its bottom. The protective sliding plate is erected in the sliding plate groove in the magnetic shielding state and embedded in the sliding plate groove in the non-magnetic shielding state.

[0027] The support platform also includes a locking structure, which includes a locking button. The locking structure is used to control the protective slide plate to be locked or unlocked in the slide plate groove via the locking button.

[0028] Optionally, the control main component includes a magnet, which is encapsulated by the main component housing;

[0029] The limiting component includes a support platform, which is fixed on the platform of the support table to support the main control component;

[0030] The platform surface of the support platform and the end of the main component shell near the support platform are in a mutually fitting shape.

[0031] According to a second aspect of the present invention, a magnetically controlled capsule endoscope system is provided, comprising:

[0032] The aforementioned shielding device, the strong magnetic control component, the bracket supporting the control component, and the tooling platform for mounting the bracket;

[0033] The bracket supports the main control component for movement, and the shielding cover of the shielding device is used to shield the main control component supported by the bracket.

[0034] The shielding device provided by this invention includes a shielding cover, a sliding support, a sliding assembly, a lift, and a push rod that controls the lifting and lowering of the shielding cover via the lift. The sliding support, sliding assembly, lift, and push rod constitute a lifting mechanism that drives the shielding cover to rise and fall. Therefore, the shielding cover can be positioned around or removed from the control unit, providing a hardware basis for switching the control unit between its working and shielding states. When the shielding cover is positioned around the control unit by lifting and lowering, it can effectively shield the strong magnetic field of the control unit, achieving the purpose of effectively shielding strong magnetic and static magnetic fields. Furthermore, this invention uses a limiting structure to support and limit the movement of the control unit, preventing contact between the control unit and the shielding cover, thus ensuring the shielding effect. Attached Figure Description

[0035] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0036] Figure 1 This diagram shows a cross-sectional view of the shielding device of the present invention.

[0037] Figure 2 A schematic diagram of one structure of the shielding device of the present invention is shown;

[0038] Figure 3 Show Figure 2 A cross-sectional view of the shielding device along the central axis of the bottom surface of the groove of the clamping component;

[0039] Figure 4 A schematic diagram of the robotic arm in this invention is shown;

[0040] Figure 5 Figure (a) shows a schematic diagram of one structure of the support platform in this invention;

[0041] Figure 5 Figure (b) shows Figure 5 (a) A schematic diagram of the protective skateboard structure circled in the figure. Detailed Implementation

[0042] The invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale. Furthermore, some well-known parts may not be shown in the drawings.

[0043] Many specific details of the invention, such as the structure, materials, dimensions, processing methods, and techniques of the devices, are described below to provide a clearer understanding of the invention. However, as those skilled in the art will understand, the invention may be implemented without following these specific details.

[0044] Figure 1 The diagram shown is a cross-sectional view of the shielding device in the first embodiment of the present invention. (Refer to...) Figure 1 The shielding device is installed on the tooling platform 100 and is used to support the strong magnetic control main component 500 of the shielding bracket 600. The shielding device includes a shielding cover 401 and a lifting mechanism, which drives the shielding cover 401 to slide in a direction close to or away from the control main component 500. Specifically, the lifting mechanism includes: a sliding support 402, a sliding assembly 403, a lifting mechanism 404, and a push rod 405 that controls the lifting and lowering via the lifting mechanism 404. The sliding support 402 is fixed on the tooling platform 100; the sliding assembly 403 is fixedly connected to the outer wall of the shielding cover 401 and slides along the sliding support 402 to move the shielding cover 401 away from or around the control main component 500; the top end of the push rod 405 is connected to the shielding cover 401 (for example, the top end of the push rod 405 is connected to the cover wall of the shielding cover 401) to move the shielding cover 401 in a direction close to or away from the control main component 500.

[0045] Specifically, the aforementioned tooling platform 100 can adopt a movable structure, meaning the tooling platform 100 can move; or the aforementioned tooling platform 100 can adopt a fixed structure, meaning the tooling platform 100 is fixed to the ground. For the fixed tooling platform 100, the ground can be used as the platform.

[0046] The aforementioned sliding support 402 can be a guide rail, and the aforementioned sliding assembly 403 can be a slider. In this case, refer to... Figure 2 and Figure 3 The guide rail may include a guide rail bracket 4021 and a fixed guide rail 4022. The guide rail bracket 4021 may be plate-shaped and vertically fixed on the tooling platform 100. The fixed guide rail 4022 is fixed to the guide rail bracket 4021 by screws and is protruding and abuts against the guide rail bracket 4021. The extension direction of the fixed guide rail 4022 is parallel to the axial direction of the shield 401. The slider has a groove for nesting the fixed guide rail 4022, thereby sliding along the fixed guide rail 4022. In other embodiments, the groove may be provided on the fixed guide rail 4022, and the sliding component 403 is disposed in the groove to drive the shield 401 to move along the fixed track 402.

[0047] The aforementioned control main component 500, such as Figure 1As shown, the magnet 504 can be constructed by encapsulating the main housing 501, which protects the magnet 504. Furthermore, the main housing 501 can be fixed to the bracket 600 by rigid connecting members such as a crossbeam 503, while the movement of the magnet 504 itself is controlled by a motor assembly (e.g., including a horizontal rotary motor and a vertical rotary motor). Here, the material of the magnet 504 can be a neodymium magnet or other magnetic material, and the shape of the magnet 504 can be spherical or similar. It should be emphasized that the present invention does not limit the specific shape of the magnet 504, as long as it can achieve control of the capsule endoscope.

[0048] The shielding cover 401 described above can be cylindrical, and it can also be formed into a multi-layer structure. Preferably, the shielding cover 401 can be a single-layer cylindrical shape with a length-to-diameter ratio of 1 to 1.1:1, thereby saving space, simplifying installation, and meeting the requirements of equipment miniaturization and mobility. In other embodiments, the shielding cover 401 can also be other shapes capable of shielding static magnetic fields, such as an open-top barrel shape or an open-top hemispherical shape, which will not be elaborated here.

[0049] It should be noted that the control unit 500 moves with the support 600. When the support 600 is stationary, allowing the control unit 500 to remain relatively still, and the shielding cover 401 surrounds the control unit 500, the strong magnetic field of the control unit 500 is shielded by the shielding cover 401, and the control unit 500 is in a magnetically shielded state. When the shielding cover 401 is removed from the control unit 500, the control unit 500 is in an unshielded state. In this state, the strong magnetic field of the control unit 500 can be used to control the movement of the capsule endoscope; therefore, the control unit 500 can also be considered to be in a working state. For the control unit 500 in its relatively still state, the magnetic field of the control unit 500 is a static magnetic field. The principle of shielding the strong static magnetic field around the control main component 500 by the shielding cover 401 is as follows: the control main component 500 is surrounded by a material with low coercivity, high permeability and high saturation magnetic induction intensity, so as to establish a magnetic field path for the magnetic field around the control main component 500, thereby achieving the magnetic field shielding effect.

[0050] In this embodiment of the invention, the sliding support 402 and the sliding assembly 403 constitute a sliding support component, and the lifting mechanism 404 and the push rod 405 constitute a sliding assist component. These two components together form a lifting mechanism that drives the shielding cover 401 to rise and fall. Driven by the lifting mechanism, the shielding cover 401 slides conveniently and smoothly in the vertical direction. When the shielding cover 401 is raised and lowered to surround the control main component 500, it can effectively shield the strong magnetic field of the control main component 500, achieving the purpose of effectively shielding strong magnetic static magnetism. Simultaneously, the lifting mechanism allows the control main component 500 to flexibly switch between a shielded state and an unshielded state, providing a hardware basis for the switching operation of the control main component 500 between the working state and the shielded state in automated control.

[0051] Because the control unit 500 suspended from the bracket 600 is relatively heavy and its movement into the shielding cover 401 is relatively long, even slight shaking could cause the control unit 500 to easily contact the shielding cover 500, affecting the magnetic shielding effect. Therefore, the shielding device in this invention needs to restrict the movement of the control unit 500. In an optional embodiment, the shielding device further includes a limiting structure 300, which restricts the movement of the control unit 500 supported by the bracket 600, thereby ensuring that the control unit 500 remains stationary without being affected by the shielding cover 401. Specifically, the limiting structure 300 includes a support structure and a limiting member. The limiting member is disposed at the end of the support structure near the control unit 500. With the support of the support structure, the limiting member contacts the control unit 500 and / or the bracket 600, restricting the movement of the control unit 500 and preventing the control unit 500 from contacting the shielding cover 401.

[0052] The optional structures of the aforementioned limiting structure 300 are described in detail below:

[0053] (a) The first optional structure of the limiting structure 300

[0054] Combination Figure 1 , Figure 2 and Figure 3 As shown, the bracket 600 is a robotic arm, and the limiting structure 300 includes a support structure and a limiting member. The limiting member includes a clamping component 301, and the support mechanism includes a support frame that supports the clamping component 301. The clamping component 301 is fixed to the top of the support frame and is used to clamp the robotic arm 600 to limit the movement of the control main component 500.

[0055] It should be noted that after the height and angle of the clamping component 301 are fixed, the clamping component 301 is mainly used to restrict the movement of the main control component 500 on the parallel plane of the work platform 100. At the same time, the clamping component 301 also prevents the main control component 500 from descending; that is, the clamping component 301 also supports the main control component 500, thus limiting its descent. Therefore, the clamping component 301, as a whole, reinforces the static state of the main control component 500.

[0056] Furthermore, the limiting structure 300 also includes a grooved lifting mechanism 302. The aforementioned support frame can be connected to the bottom of the grooved lifting mechanism 302 to control the lifting and lowering through the grooved lifting mechanism 302. Thus, the clamping component 301 can achieve the operation of lifting and lowering with the help of the grooved lifting mechanism 302 and the support frame. Therefore, the clamping component 301 can support the control main component 500 in response to different heights. That is, the clamping component 301 can be combined with the robotic arm as much as possible to ensure that the control main component 500 is not affected by the shielding cover 401 and remains stationary.

[0057] Reference Figure 4 The aforementioned robotic arm 600 may specifically include a first sub-arm 601 and a second sub-arm 602 that are rotatably connected to each other. The clamping member 301 is configured as a groove, wherein the groove is used to embed the second sub-arm 602, and after the second sub-arm 602 is embedded in the groove, the projections of the first sub-arm 601 and the second sub-arm 602 onto the target plane are two straight lines with a fixed included angle, and the target plane is the plane where the bottom of the groove is located; and, during the rotation of the first sub-arm 601, there is only one position in which the second sub-arm 602 is embedded in the groove.

[0058] Optionally, the robotic arm 600 further includes an intermediate joint 603 disposed between the end of the first sub-arm 601 and the beginning of the second sub-arm 602, and a starting joint 604 disposed at the beginning of the first sub-arm 601. The starting joint 604 is used to allow the first sub-arm 601 to rotate, thereby achieving relative rotation of the entire robotic arm 600, while the intermediate joint 603 is used to achieve rotation of the first sub-arm 601 relative to the second sub-arm 602.

[0059] For example, see Figure 4As shown, the target plane is the xy plane. The second robotic arm 602 rotates around axis L1 (axis L1 along the x-axis). The projections of the first sub-arm 601 and the second sub-arm 602 onto the target plane are two straight lines with a fixed included angle. Furthermore, if the groove arm of the clamping component 301 is positioned along axis L3 (axis L3 along the y-axis), and the first sub-arm 601 rotates around axis L2 (axis L2 along the z-axis), then during the rotation of the first sub-arm 601, which causes the second sub-arm 602 to rotate as well, the second sub-arm 602 has only one position parallel to the y-axis, and in this position, the second sub-arm 602 can be nested within the groove. Moreover, the first sub-arm 601 rotates around axis L2, thereby controlling the orientation of the magnet 504 in the xy plane. The second sub-arm 602 rotates around axis L1, causing the end of the second sub-arm 602 closest to the magnet 504 to rotate up and down, thereby controlling the height of the magnet 504 along the z-axis.

[0060] In this embodiment of the invention, the aforementioned orientational relationship between the groove and the robotic arm 600 effectively prevents the joints of the robotic arm 600 from moving due to the attraction of the magnet 504 to the shielding cover 401. Furthermore, the aforementioned orientational relationship between the groove and the robotic arm 600, combined with the height-adjustable groove, can more effectively limit the movement of the robotic arm 600 caused by the attraction of the shielding cover 401 to the magnet 504, thereby further ensuring the continuous maintenance of the stationary state of the control unit 500. In addition, the groove can also prevent the influence of equipment shaking on the control unit 500, further preventing the control unit 500 from contacting the shielding cover 401.

[0061] In other embodiments of the present invention, the control main component 500 is suspended by two or more robotic arms, such as drive arms and balance arms, but the working principle of the shielding device is the same and will not be described again here.

[0062] (ii) The second optional structure of the limiting structure 300

[0063] like Figure 3 As shown, the limiting structure 300 includes a support structure and a limiting member. The support structure includes a support platform 200, which supports the main control component 500. A shielding cover 401 is fitted over the outside of the support platform 200, and a sliding support member 402 is disposed on one side of the support platform 200. In this case, if the shielding cover 401 slides below the surface of the support platform 200, it moves away from the main control component 500; if it slides above the surface of the support platform 200, it surrounds the main control component 500. Figure 5As shown in Figure (a), the support platform 200 includes a support plate 203 and a fixing frame 202 that mounts the support plate 203 on the tooling platform 100. Here, the support plate 203 provides the table surface of the support platform 200 and is used to support the control main component 500. A limiting member is provided on the edge of the support plate 203 facing the control main component 500 to restrict the movement of the control main component 500.

[0064] It should be noted that, in the embodiments of the present invention, the platform surface of the support table is the end face of the support table 200 facing the control main component 500. The support table 200 can be installed on the tooling platform 100 in various ways, such as by threaded connection, tenon joint, and riveting, as long as the connection strength between the two can be guaranteed.

[0065] Optionally, such as Figure 4 As shown, in order to facilitate operation by the operator, the shielding device also includes an operating table 700. The operating table 700 is arranged around the support platform 200, and the tools used by the operator can be placed on the operating table 700.

[0066] Specifically, refer to Figure 5 In Figure (a), the fixing frame 202 and the support plate 203 can form a "round table" structure, that is, the fixing frame 202 is composed of four table legs, and the support plate 203 is in the shape of a round plate and is supported by four table legs.

[0067] Further, see Figure 5 As shown in Figure (a), the limiting member includes a protective sliding plate 303, which is disposed at the edge of the support plate 203 (the side facing the control main component 500). In the upright state, the protective sliding plate 303 faces the shielding cover 401 (i.e., the side facing the shielding cover 401). Figure 5 The black-coated side is a smooth surface, therefore the protective sliding plate 303 confines the main control component 500 to the support plate 203, while separating the main control component 500 from the shielding cover 401 that slides around the support plate 203. The protective sliding plate 303 also provides good guidance for the shielding cover 401. It should be noted that the shielding cover 401 is fitted onto the outer edge of the support platform 200, and its position can be either below or above the support plate 203 through sliding. It should be understood that when the shielding cover 401 is below the support plate 203, the main control component 500 is in an unshielded state; if the shielding cover 401 is above the support plate 203, the main control component 500 is in a shielded state.

[0068] In an optional embodiment, such as Figure 5As shown in Figure (a), the support plate 203 has a slide groove 204 on its surface, and the protective slide 303 is installed in the slide groove 204 in a way that it rotates around its bottom. Specifically, the protective slide 303 is erected in the slide groove 204 when the control main component 500 is in a magnetically shielded state, and is embedded in the slide groove 204 when the control main component 500 is in a non-magnetically shielded state.

[0069] In order to switch the state of the protective slide plate 303, the support platform 200 also includes a locking structure (not shown), which includes a locking button 205. The locking structure is used to control the protective slide plate 303 to be in a locked or unlocked state in the slide plate groove 204 via the locking button 205.

[0070] It should be noted that the protective slide plate 303 is in a locked state within the slide plate groove 204, meaning it remains upright within the groove, which corresponds to the magnetic shielding state of the main control component 500. The protective slide plate 303 is also in an unlocked state within the groove 204, meaning it remains embedded (lying down) within the groove, which corresponds to the non-magnetic shielding state of the main control component 500.

[0071] Specifically, there can be multiple protective sliding plates 303, which are arranged around the center of the support plate 203 and close to its edge. These plates surround the control main component 500 and form a gap between it and the shielding cover 401, thus providing good limiting for the control main component 500 and good guiding for the shielding cover 401. It should be emphasized that the present invention does not specifically limit the number or arrangement of the multiple protective sliding plates 303, as long as the protective sliding plates 303 can move or rotate relative to the support plate 203 and ensure that they perform their limiting and guiding functions.

[0072] Preferably, the protective sliding plates 303 are evenly spaced on the support plate 203. For example, if... Figure 5 As shown in Figure (a), there are four protective sliding plates 303. These four protective sliding plates 303 can be configured as follows: Figure 5 As shown in Figure (a), the protective plates 303 are positioned at the end of the "+" shaped sliding plate groove. If there are three protective plates 303, they can be positioned at the end of the "Y" shaped sliding plate groove. If there are eight protective plates 303, they can be positioned at the end of the "M" shaped sliding plate groove. The protective plates 303 are positioned at the end of the sliding plate groove, i.e., near the edge of the support plate 203.

[0073] Combination Figure 1 , Figure 2 and Figure 3In the aforementioned control main component 500, the magnet 504 is a magnetic ball, and the main component housing 501 is at least partially cylindrical. The height of the protective sliding plate 303 can be limited to the radius of the magnetic ball. Furthermore, during the rotation of the protective sliding plate 303 around its bottom, the maximum angle between it and the surface of the support plate 203 is set within the range of 90° to 95°. Within this range, the protective sliding plate 303 can effectively isolate the inner wall of the shielding cover 401 from the main component housing 501, preventing direct contact between them. Moreover, because the protective sliding plate 303 creates a gap between the shielding cover 401 and the control main component 500, the shielding cover 401 can slide smoothly against the attractive force of the magnet 504.

[0074] The aforementioned locking structure can specifically employ existing structures. For example, the slide groove 204 and the protective slide 303 are as follows: Figure 5 As shown in Figures (a) and (b) (i.e., the protective slide plate 303 is rectangular, there are four protective slide plates 303, and they are respectively set at the ends of the "+" shaped slide plate grooves. Each protective slide plate 303 rotates around the pivot A1A2 on the inner side of the bottom), the locking structure includes a spring and the aforementioned locking button 205. The two opposing protective slide plates 303 on the slide plate groove 204 are connected to each other by a spring connected between the outer pivot B1B2. Thus, when the two opposing protective slide plates 303 are embedded in the groove of the slide plate groove 204, the aforementioned spring is in a naturally extended state, so the protective slide plate 303 can be locked when it is embedded in the slide plate groove 204; however, when the locking button 205 is pressed, the locking button 205 presses on the spring and stretches the spring. The restoring force of the spring pulls the two connected protective slide plates 303, causing the two protective slide plates 303 to spring up and stand upright.

[0075] It is worth mentioning that, in other embodiments, the end of the protective sliding plate 303 that mates with the sliding plate groove 204 is formed with a rounded corner or an arc surface, thereby allowing the protective sliding plate 203 to rotate flexibly within the sliding plate groove 204. More preferably, taking the protective sliding plate 203 embedded (lying) within the sliding plate groove 204 as an example, the end of the protective sliding plate 203 that mates with the sliding plate groove 204 has a right angle on the side near the support platform 200 and a rounded corner or an arc surface on the side near the bottom of the sliding plate groove 204.

[0076] In this embodiment of the invention, the arrangement of the slide groove 204 and the locking structure enables the protective slide 303 to flexibly switch between the locked and unlocked states depending on whether the control master 500 is in the shielded state. That is, it provides a hardware basis for the flexible switching between the locked and unlocked states, which helps to keep the setting state of the protective slide 303 consistent with the state switching of the control master 500.

[0077] (III) The third optional structure of the limiting structure 300

[0078] like Figure 1 As shown, the limiting structure 300 includes a support structure and a limiting member. The support structure includes a support platform 200, a shielding cover 401 sleeved on the outside of the support platform 200, and a sliding support member 402 disposed on one side of the support platform 200. In this case, if the shielding cover 401 slides below the platform surface of the support platform 200, it moves away from the main control component 500; if it slides above the platform surface of the support platform 200, it surrounds the main control component 500. The limiting member includes a bearing platform 304, which is fixed on the platform surface of the support platform 200 to support the main control component 500. The main control component 500 includes a magnet 504, which is encapsulated by the main component housing 501. The platform surface of the bearing platform 304 (the side facing the main component housing 501) and the end of the main component housing 501 near the bearing platform 304 are mutually fitted. The support platform 304 hinders the movement of the main component housing 501, thereby allowing the main control component 500 to be stably supported on the support platform 304.

[0079] Specifically, the bottom surface of the main component housing 501 can be selected as hemispherical, and the platform surface of the support stage 304 can also be selected as hemispherical, so that the bottom surface of the main component housing 501 can be embedded into the platform surface of the support stage 304.

[0080] It should be noted that the platform surface of the support platform 304 can be a continuous structure or a discontinuous structure, as long as it is in a shape that fits into the bottom surface of the main component housing 501. For example, if the bottom surface of the main component housing 501 is hemispherical, then the platform surface of the support platform 304 can be a hemispherical shape with a hollowed-out portion, etc.

[0081] For the shielding device, any of the above-mentioned optional structures of the limiting structure 300 can be selected, provided that the actual situation permits. Furthermore, the above-mentioned multiple optional structures of the limiting structure 300 can be combined and used, for example, provided that the actual situation permits. Figure 1 The diagram shows the combined use of the first and third limiting structures 300. It is worth noting that in some embodiments combining multiple limiting structures 300, the support platform 304 and the slide groove 204 are offset from each other on the surface of the support plate 203.

[0082] It is worth mentioning that, in the embodiments of the present invention, in order to further improve the shielding effect of the shielding device on the control main component 500, the shielding device further includes a shielding plate (not shown), which is connected to the end of the shielding cover 401 and forms a closed cavity with the shielding cover 401, in which the control main component 500 is accommodated. For example, the support platform 200 is formed as a shielding plate, thereby improving the magnetic shielding effect of the closed cavity.

[0083] In view of the shielding device provided in the embodiments of the present invention, the second embodiment of the present invention also provides a magnetically controlled capsule endoscope system (not shown). The magnetically controlled capsule endoscope system includes: the shielding device described in the first embodiment, a strongly magnetic control main component 500, a bracket 600 supporting the control main component 500, and a tooling platform 100 for mounting the bracket 600. The bracket 600 supports the control main component 500 to move. The shielding cover 401 in the shielding device is used to shield the control main component 500 supported by the bracket 600, thereby preventing the control main component 500 from causing adverse effects on surrounding magnetically sensitive elements. Furthermore, the magnetically controlled capsule endoscope system can switch between the working state and the shielding state of the control main component 500.

[0084] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] As described above, these embodiments of the present invention do not exhaustively cover all details, nor do they limit the invention to the specific embodiments described. Clearly, many modifications and variations can be made based on the above description. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to effectively utilize the invention and its modifications. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A shielding device for shielding a strong magnetic control main unit supported by a bracket, characterized by, The shielding device comprises: a shielding cover connected with a lifting mechanism, the lifting mechanism driving the shielding cover to slide towards or away from the control main body; the shielding device further comprises a limiting structure in contact with the control main body and / or the support, limiting the movement of the control main body supported by the support; the lifting mechanism comprises: a sliding support; a sliding assembly fixedly connected with the shielding cover and sliding along the sliding support to drive the shielding cover away from or around the control main body; and a lifting machine and a push rod controlling the lifting of the shielding cover through the lifting machine, the push rod being connected with the shielding cover to drive the shielding cover to slide towards or away from the control main body; the limiting structure comprises a support structure and a limiting piece arranged at one end of the support structure close to the control main body, the limiting piece being in contact with the control main body and / or the support under the support of the support structure and limiting the movement of the control main body; the support is a mechanical arm, the support structure comprises a support frame, and the limiting piece comprises a clamping part; the support frame is used to support the clamping part; the clamping part is fixedly arranged on the top of the support frame and is used to clamp the mechanical arm to limit the movement of the control main body.

2. The shielding device of claim 1, wherein the mechanical arm comprises a first sub-arm and a second sub-arm rotatably connected, and the clamping part is a groove; the groove is used to embed the second sub-arm, the first sub-arm and the second sub-arm being two straight lines with a fixed angle in projection on a target plane when the second sub-arm is embedded in the groove, the target plane being a plane on which the bottom of the groove is located; and, during the rotation of the first sub-arm, only one position makes the second sub-arm embedded in the groove.

3. The shielding device of claim 1, wherein, the limiting structure further comprises a groove lifting machine used to control the lifting of the support frame, so that the clamping part can be lifted and lowered by means of the groove lifting machine and the support frame.

4. The shielding device of claim 1, wherein, the support structure comprises a support table, the shielding cover being sleeved outside the support table, and the sliding support being arranged on one side of the support table; the support table comprises a fixed frame and a support plate, the support plate being installed through the fixed frame, and the support plate being used to carry the control main body; the limiting piece is arranged at the edge of the side of the support plate facing the control main body to limit the movement of the control main body.

5. The shielding device of claim 4, wherein, the limiting piece comprises a protection slide plate arranged at the edge of the plate surface of the support plate, and the side of the protection slide plate facing the shielding cover in the standing state being a smooth surface.

6. The shielding device of claim 5, wherein, a slide plate groove is arranged on the plate surface of the support plate; the protection slide plate is installed in the groove in a manner of rotating around the bottom of the protection slide plate, and the protection slide plate is erected in the slide plate groove in the magnetic shielding state and embedded in the slide plate groove in the non-magnetic shielding state. The support table further comprises a locking structure, the locking structure comprises a locking button, the locking structure is used for controlling the protective slide plate to be in a locked state or an unlocked state in the slide plate groove through the locking button.

7. The shielding device of claim 4, wherein, The control main piece comprises a magnet, and the magnet is encapsulated by a main piece shell; The limiting piece comprises a bearing table, and the bearing table is fixed on the table top of the support table to bear the control main piece; The table top of the bearing table and the end of the main piece shell close to the bearing table are mutually embedded.

8. A magnetically controlled capsule endoscopy system, characterized by, Comprise: The shielding device, the strong magnetic control main piece, the support for supporting the control main piece, and the tool platform for installing the support according to any one of claims 1-7; The shielding cover of the shielding device is used for shielding the control main piece supported by the support.

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