Magnetic control device capable of positioning capsule endoscope

Abstract

The present disclosure describes a magnetic control device capable of positioning a capsule endoscope. The capsule endoscope has a built-in magnet. The magnetic control device includes: a first coil that generates a first variable magnetic field; a second coil that generates a second variable magnetic field; a magnet that is rotatably arranged near the first coil or the second coil and generates a magnetic force on the built-in magnet of the capsule endoscope; and a magnetic sensor that obtains the first magnetic field generated by the magnetic control device before the capsule endoscope enters the tissue cavity of the subject, and obtains the second magnetic field jointly generated by the magnetic control device and the built-in magnet of the capsule endoscope after the capsule endoscope enters the tissue cavity of the subject, obtains a third magnetic field generated by the built-in magnet based on the first and second magnetic fields, and obtains the relative position of the capsule endoscope with respect to the magnetic sensor based on the third magnetic field and the magnetic dipole model of the built-in magnet. According to the present disclosure, a magnetic control device capable of achieving precise positioning can be provided.

Description

[0001] This application is a divisional application of the patent application with the application date of October 18, 2019, application number CN201910996384.X, and invention name as Magnetic Control Device. Technical Field

[0002] The present disclosure generally relates to the field of magnetic control, and more particularly to a magnetic control device capable of positioning a capsule endoscope. Background Art

[0003] With the development of modern medical technology, lesions in the gastric cavity (such as polyps on the gastric wall) can be examined by capsule endoscopy. Capsule endoscopy can conveniently help doctors and others obtain information about the lesion area in the gastric cavity to assist doctors in diagnosing and treating patients. Such a capsule endoscope usually has a built-in magnet, and an external magnetic control device can control the movement of the capsule endoscope in the gastric cavity by controlling the built-in magnet. Specifically, the doctor, nurse or other operator controls the external magnetic control device to magnetically guide the capsule endoscope located in the gastric cavity so that the capsule endoscope moves in the gastric cavity and collects images of the gastric cavity (such as the lesion area), and then transmits the collected images to an external device through wireless transmission or other transmission methods. The doctor and others can examine and diagnose the patient's gastric cavity through the external device.

[0004] When using the magnetic control device to guide a capsule endoscope to examine a patient's gastric cavity, in order to obtain accurate examination results, the magnetic control device must be able to precisely position and control the movement of the capsule endoscope within the gastric cavity to adequately capture images of the gastric cavity. For example, existing magnetic control devices typically use a rotating spherical magnet to control the capsule endoscope's tumbling motion on the gastric wall, thereby guiding the capsule endoscope's movement. However, such magnetic control devices and magnetic control methods cannot effectively achieve the aforementioned precise positioning and control of the capsule endoscope. Summary of the Invention

[0005] The present disclosure is proposed in view of the above-mentioned state of the prior art, and its purpose is to provide a magnetic control device for controlling the movement of a capsule endoscope with a built-in magnet in a tissue cavity, which can achieve precise positioning and control.

[0006] To this end, the present disclosure provides a magnetic control device, characterized in that it includes: a first coil, which generates a first variable magnetic field; and a magnet, which is rotatably arranged near the first coil, the magnet passing through the central axis of the first coil, and generating a magnetic force on the built-in magnet of the capsule endoscope, wherein the magnet and the first coil apply magnetic force to the built-in magnet in such a manner that the built-in magnet is magnetically constrained to the central axis.

[0007] In the magnetic control device disclosed herein, a magnet is rotatably arranged near a first coil and passes through the central axis of the first coil. The magnet and the first coil exert a magnetic force on the internal magnet, magnetically constraining the internal magnet to the central axis. In this case, the magnetic force constrains the capsule endoscope to the central axis as it moves within a tissue cavity, enabling precise positioning of the capsule endoscope and thus precise control of its movement.

[0008] In addition, the magnetic control device of the present disclosure further includes a second coil that generates a second variable magnetic field, and the tissue cavity is located between the first and second coils. In this case, by placing coils on opposite sides of the tissue cavity, magnetic forces can be applied to the built-in magnet on both sides, thereby enabling precise control of the capsule endoscope.

[0009] Furthermore, in the magnetron device of the present disclosure, the first variable magnetic field is determined by a first current flowing through the first coil, and the second variable magnetic field is determined by a second current flowing through the second coil. In this case, adjusting the first and second currents facilitates adjustment of the first and second variable magnetic fields, thereby conveniently adjusting the magnetic forces exerted by the first and second coils on the built-in magnet.

[0010] In addition, in the magnetic control device of the present disclosure, the second coil passes through the central axis. In this case, the first coil and the second coil can exert magnetic force on the built-in magnet, thereby better constraining the capsule endoscope near the central axis.

[0011] In addition, in the magnetic control device according to the present disclosure, the first coil and the second coil do not undergo relative displacement in the horizontal direction. In this case, the movement of the capsule endoscope can be stably controlled.

[0012] Furthermore, in the magnetic control device disclosed herein, the diameter of the first coil is larger than that of the second coil, and the magnet is freely rotatable within the first coil. In this case, by providing electromagnetic coils of different diameters, the capsule endoscope can be better constrained, and the freely rotatable magnet can conveniently control the capsule endoscope's deflection to adjust its posture (deflection angle) during image acquisition.

[0013] In addition, in the magnetic control device of the present disclosure, the deflection of the capsule endoscope in the tissue cavity is controlled by rotating the magnet, thereby conveniently controlling the posture (deflection angle) of the capsule endoscope when acquiring images.

[0014] In addition, in the magnetic control device of the present disclosure, the magnetic force exerted by the magnet and the first coil on the built-in magnet is adjusted to move the capsule endoscope along a predetermined route. Thus, the capsule endoscope can more fully capture images in the tissue cavity by setting a predetermined route.

[0015] In addition, in the magnetic control device of the present disclosure, the magnetic axis of the magnet is kept collinear with the central axis during the movement of the capsule endoscope along the predetermined route. In this case, the capsule endoscope can be effectively constrained to the central axis of the first coil during movement.

[0016] Furthermore, in the magnetron device according to the present disclosure, the magnet is a permanent magnet. Thus, by using the permanent magnet, a stable magnetic force can be applied to the built-in magnet.

[0017] According to the magnetic control device disclosed in the present invention, a magnetic control device capable of achieving precise positioning and control for controlling the movement of a capsule endoscope with a built-in magnet in a tissue cavity can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram showing the overall structure of a magnetron device according to an embodiment of the present disclosure.

[0019] Figure 2 3 is a schematic diagram showing a partial structure between a first coil and a magnet of a magnetron device according to an embodiment of the present disclosure.

[0020] Figure 3 Schematic diagram showing the structure between the first coil and the second coil of the magnetron device according to an embodiment of the present disclosure.

[0021] Figure 4 1 is a schematic diagram showing the appearance and structure of a capsule endoscope according to an embodiment of the present disclosure.

[0022] Figure 5 Schematic diagram showing the internal structure of a capsule endoscope according to an embodiment of the present disclosure.

[0023] Figure 6 The figure is a simplified flow chart showing a method of controlling a capsule endoscope to move within a tissue cavity by a magnetic control device according to an embodiment of the present disclosure.

[0024] Figure 7 FIG. 1 is a schematic diagram showing a typical path of a capsule endoscope according to an embodiment of the present disclosure moving in a tissue cavity.

[0025] Figure 8The figure is a schematic diagram showing a posture of the capsule endoscope according to an embodiment of the present disclosure performing image acquisition in a tissue cavity.

[0026] Description of reference numerals:

[0027] 10…magnetic control device, 11…first coil, 12…magnet, 13…second coil, 14…moving mechanism, 15…examination bed, 16…magnetic sensor, 20…capsule endoscope, 201…main shell, 202…end shell, 21…built-in magnet, 22…acquisition module, 221…imaging unit, 222…illumination unit, 23…power supply module, 24…transmission module, 30…object, 31…tissue cavity, C…central axis of the first coil. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. In the following description, identical components are assigned identical reference numerals, and duplicate descriptions are omitted. In addition, the accompanying drawings are merely schematic, and the proportions of the dimensions of the components and the shapes of the components may differ from the actual ones.

[0029] It should be noted that the terms "including" and "having" and any variations thereof in this disclosure, such as a process, method, system, product or device that includes or has a series of steps or units, are not necessarily limited to those steps or units clearly listed, but may include or have other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0030] In addition, the subheadings and the like in the following description of this disclosure are not intended to limit the content or scope of this disclosure, but are merely provided as a guide for reading. Such subheadings should not be understood as dividing the content of the article, nor should the content under the subheading be limited to the scope of the subheading.

[0031] Figure 1 1 is a schematic diagram showing the overall structure of the magnetron device 10 according to an embodiment of the present disclosure. Figure 2 1 is a schematic diagram showing a partial structure between the first coil 11 and the magnet 12 of the magnetron device 10 according to an embodiment of the present disclosure. Figure 3 1 is a schematic diagram showing the structure between the first coil 11 and the second coil 13 of the magnetron device 10 according to an embodiment of the present disclosure.

[0032] In this embodiment, if Figure 1 and Figure 2As shown, the magnetic control device 10 may include a first coil 11 and a magnet 12. The magnet 12 may be rotatably arranged near the first coil 11 and pass through the central axis C of the first coil 11. The capsule endoscope 20 may have a built-in magnet 21 (see Figure 5 Furthermore, the first coil 11 and the magnet 12 can exert a magnetic force on the built-in magnet 21 in such a manner that the built-in magnet 21 is constrained to the central axis C of the first coil 11 , thereby controlling the capsule endoscope 20 to move within the tissue cavity 31 of the subject 30 .

[0033] In the magnetic control device 10 of this embodiment, the magnet 12 is rotatably arranged near the first coil 11 and passes through the central axis C of the first coil 11. The first coil 11 and the magnet 12 exert a magnetic force on the internal magnet 21 such that the internal magnet 21 is magnetically constrained to the central axis of the first coil 11. In this case, when the capsule endoscope 20 is located within the tissue cavity 31 of the subject 30, the magnetic force generated by the magnetic control device 10 constrains the capsule endoscope 20 to the central axis C of the first coil 11, enabling precise positioning of the capsule endoscope 20 and thus precise control of its movement within the tissue cavity 31. Controlling the capsule endoscope 20 according to the magnetic control device 10 of the present disclosure enables the capsule endoscope 20's movement path within the tissue cavity 31 to more comprehensively cover the area where image acquisition is required. This allows for more comprehensive and detailed acquisition of images within the tissue cavity 31, such as images of the inner wall of the tissue cavity 31, helping doctors and others make accurate diagnoses and treatments for the subject 30.

[0034] In this embodiment, the tissue cavity 31 may be a digestive cavity, such as the stomach, large intestine, or small intestine. Furthermore, in some examples, the tissue cavity 31 may also be a non-digestive cavity, such as the abdominal cavity or thoracic cavity. For digestive cavities, such as the stomach, large intestine, or small intestine, the capsule endoscope 20 can be swallowed to enter the digestive cavity. For non-digestive cavities, doctors can create a minimally invasive incision through clinical surgery to place the capsule endoscope 20 in the non-digestive cavity.

[0035] (Capsule Endoscope 20)

[0036] Figure 4 1 is a schematic diagram showing the appearance and structure of a capsule endoscope 20 according to an embodiment of the present disclosure. Figure 5 1 is a schematic diagram showing the internal structure of the capsule endoscope 20 according to the embodiment of the present disclosure.

[0037] like Figure 4 、 Figure 5As shown, in this embodiment, the capsule endoscope 20 can be a medical device that is formed to be able to be introduced into the tissue cavity 31 of the subject 30 (for example, the human body 30) and is shaped like a capsule. From the appearance, the capsule endoscope 20 can be a capsule-shaped shell (see Figure 4 In some examples, the capsule-shaped housing can be composed of a cylindrical main housing 201 and two hemispherical end housings 202 located at both ends of the main housing 201. The main housing 201 and the end housings 202 can be combined to form an airtight packaging structure, i.e., a capsule-shaped housing, thereby maintaining a liquid-tight state within the capsule endoscope 20. In some examples, the end housings 202 can be connected to the main housing 201 by screwing. In other examples, the end housings 202 can also be connected to the main housing 201 by adhesive bonding.

[0038] Additionally, in some examples, the end shell 202 may be a transparent optical element capable of transmitting light of a specified wavelength (eg, visible light), wherein both end shells 202 may be transparent optical elements, or only one of them may be a transparent optical element.

[0039] In addition, in this embodiment, the capsule endoscope 20 may further include a collection module 22, a power supply module 23 and a transmission module 24 (see Figure 5 ). Wherein, the acquisition module 22 may include a camera unit 221 and an illumination unit 222, and is arranged at the same end as the transparent end shell 202. The capsule endoscope 20 can acquire images in the gastric cavity through the acquisition module 22. For example, the capsule endoscope 20 can acquire images in the tissue cavity (such as the gastric cavity) 31 by taking pictures through the camera unit 221, such as taking pictures of the inner wall of the tissue cavity (such as the stomach wall). The illumination unit 222 can be used to provide lighting for the area where the image is to be collected, thereby helping the camera unit 221 to take pictures clearly. The power supply module 23 can be used to provide electrical energy to the various components in the capsule endoscope 20. The transmission module 24 can be used to transmit signals between the capsule endoscope 20 and an external device (not shown), for example, transmitting the image collected by the acquisition module 22 in the tissue cavity 31 (such as the gastric cavity) to the external device for further processing.

[0040] In some examples, the transmission module 24 can use wireless transmission methods such as Bluetooth, near field communication (NFC), and WIFI to transmit signals. This facilitates instant communication between the capsule endoscope 20 and external devices. In other examples, the transmission module 24 can also transmit signals through wired transmission methods such as USB, HDMI, and VGA. In this case, when the capsule endoscope 1 is expelled from the body, the capsule endoscope 20 can transmit signals with the external device through wired transmission, thereby effectively reducing the energy consumption of the capsule endoscope 20 and enabling the capsule endoscope 20 to transmit signals even when the energy is exhausted.

[0041] In addition, in some examples, the capsule endoscope 20 may further include a storage module (not shown), thereby conveniently storing images captured by the acquisition module 22 in the tissue cavity (eg, gastric cavity) 31 .

[0042] In addition, in some examples, the shape of the built-in magnet 21 of the capsule endoscope 20 can be any of regular shapes such as a cube, a cuboid, a triangular prism, a hexagonal prism, or a cylinder. In this case, by obtaining the geometric axis of the built-in magnet 21, such as the central axis, the direction of the magnetic axis of the built-in magnet 21 can be easily determined, thereby conveniently determining the direction of the magnetic force applied by the magnetron 10 to the built-in magnet 21.

[0043] In addition, in some examples, a predetermined angle is formed between the magnetic axis of the internal magnet 21 and the longitudinal direction of the capsule endoscope 20. Preferably, the direction of the magnetic axis of the internal magnet 21 is the same as the longitudinal direction of the capsule endoscope 20. In this case, the posture (deflection angle) of the capsule endoscope 20 can be conveniently adjusted by adjusting the magnetic force applied to the internal magnet 21, such as the direction of the magnetic force.

[0044] In addition, in some examples, the capsule endoscope 20 may further include an accelerometer and a gyroscope, thereby enabling convenient and accurate acquisition of the posture (deflection angle) information of the capsule endoscope 20 .

[0045] In this embodiment, the magnetic control device 10 can generate a magnetic force on the built-in magnet 21 of the above-mentioned capsule endoscope 20 through the external magnetic field (including the first variable magnetic field generated by the first coil 11, the magnetic field generated by the magnet 12 and the second variable magnetic field generated by the second coil 13) generated by the magnetic field component (including the first coil 11, the magnet 12 and the second coil 13), thereby controlling the movement of the capsule endoscope 20 in the tissue cavity (for example, the gastric cavity) 31 of the subject 30.

[0046] (First Coil 11)

[0047] In this embodiment, the first coil 11 can generate a first variable magnetic field. In this case, the first coil 11 can generate a magnetic force on the built-in magnet 21 of the capsule endoscope 20 through the first variable magnetic field, thereby conveniently positioning and controlling the capsule endoscope 20.

[0048] In this embodiment, the first coil 11 refers to an electromagnetic coil, i.e., a ring-shaped wire winding. In some examples, the first variable magnetic field can be determined by a first current flowing through the first coil 11, and the first variable magnetic field can be adjusted by adjusting the magnitude or direction of the first current. In this case, by adjusting the first current, the first variable magnetic field, such as the magnitude and direction of the first variable magnetic field, can be easily adjusted, thereby conveniently adjusting the magnetic force applied by the first coil 11 to the built-in magnet 21. In some examples, the magnetic force applied by the first coil 11 to the built-in magnet 21 can be increased by increasing the first current, and the direction of the magnetic force applied by the first coil 11 to the built-in magnet 21 can be changed by changing the direction of the first current.

[0049] Furthermore, in some examples, by giving the first coil 11 a regular shape, the capsule endoscope 20 can be easily positioned. Specifically, under the influence of the first variable magnetic field, the point on a plane perpendicular to the magnetic axis of the first coil 11 that intersects the magnetic axis is always the point where the magnetic field intensity is greatest within that plane. Based on this theory, when the internal magnet 21 is subjected to the magnetic force in the first variable magnetic field, it tends to approach the magnetic axis of the first coil 11. In this case, by determining the magnetic axis of the first coil 11, the capsule endoscope 20 can be easily positioned. In other words, by giving the first coil 11 a regular shape and determining its central axis C, the magnetic axis of the first coil 11 when the first variable magnetic field is generated can be easily determined. Since the capsule endoscope 20 always tends to approach the magnetic axis of the first coil 11, it can be easily constrained to the magnetic axis of the first coil 11, thereby facilitating positioning of the capsule endoscope 20.

[0050] In addition, in some examples, the shape of the first coil 11 can be selected from one of regular shapes such as a cube, a cuboid, a triangular prism, a hexagonal prism, and a cylinder. In this case, by setting a regular shape for the first coil 11, the geometric axis of the first coil 11, such as the central axis C, can be easily determined, thereby easily determining the magnetic axis of the first coil 11. As described above, for a magnetic element of a regular shape, generally, the magnetic axis of the magnetic element is collinear with the central axis. That is, by setting a regular shape for the first coil 11, when the first current is passed through the first coil 11, i.e., when a first variable magnetic field is generated, the magnetic axis of the first coil 11 can be easily determined by determining the central axis C of the first coil 11, thereby easily positioning the capsule endoscope 20.

[0051] Additionally, in some examples, the central axis C of the first coil 11 can be arranged in a vertical direction. As described above, because the internal magnet 21 always tends to approach the magnetic axis of the first coil 11 when subjected to the magnetic force of the first variable magnetic field, the capsule endoscope 20 always tends to approach the central axis C of the first coil 11. In this case, by arranging the central axis C of the first coil 11 in a vertical direction, the capsule endoscope 20 can be effectively constrained to the central axis C of the first coil 11, and the magnetic force on the capsule endoscope 20 is only generated in the vertical direction, thereby facilitating the positioning and control of the capsule endoscope 20.

[0052] Additionally, in some examples, the central axis C of the first coil 11 can be fixed in a vertical orientation. This effectively prevents the orientation of the central axis C of the first coil 11 from being affected by, for example, shaking during operation of the magnetron device 10. In other examples, the orientation of the central axis C of the first coil 11 is adjustable. This allows for convenient adjustment based on the flatness of the surface on which the magnetron device 10 is placed.

[0053] Additionally, in some examples, the first coil 11 can be cylindrical. In this case, the internal space of the first coil 11 can be effectively utilized. In some examples, the first coil 11 can have a hollow structure. This hollow structure can be used to secure the first coil 11. Furthermore, it can also accommodate the magnet 12. This allows for flexible configuration of the structural relationship between the first coil 11 and the magnet 12.

[0054] (Magnet 12)

[0055] In addition, in this embodiment, the magnetic control device 10 may include a magnet 12 to generate an external magnetic field acting on the built-in magnet 21, and the magnet 12 may be used to adjust the posture (deflection angle) of the capsule endoscope 20. In some examples, the magnet 12 may be rotatably arranged near the first coil 11 (see Figure 2 By rotating the magnet 12, the magnetic force exerted by the magnet 12 on the built-in magnet 21 can be changed, thereby conveniently adjusting the posture (deflection angle) of the capsule endoscope 20. In this case, the posture (deflection angle) of the capsule endoscope 20 during image acquisition can be conveniently adjusted, thereby enabling the capsule endoscope 20 to move flexibly to fully acquire images within the tissue cavity 31.

[0056] In some examples, the magnet 12 may be a permanent magnet or an electromagnetic coil. Preferably, the magnet 12 may be a permanent magnet. Thus, the magnet 12 can generate a stable magnetic force on the capsule endoscope 20, thereby enabling precise control of the capsule endoscope 20.

[0057] Additionally, in some examples, the shape of the magnet 12 can be spherical, cylindrical, or pancake-shaped (a cylindrical shape whose length is smaller than the diameter of the base). This facilitates determining the geometric axis of the magnet 12, such as its central axis, and thus the magnetic axis of the magnet 12. However, this embodiment is not limited thereto, and the magnet 12 can also adopt other regular geometric shapes, such as a prism.

[0058] In addition, in this embodiment, the magnet 12 can pass through the center axis C of the first coil 11 (see Figure 2 Preferably, when the magnetic axis of the magnet 12 and the center axis C of the first coil 11 are both in the vertical direction, the magnetic axis of the magnet 12 can coincide with the center axis C of the first coil 11 (see Figure 2 In this case, when the magnetic axis of the magnet 12 and the central axis C of the first coil 11 are both in the vertical direction, the magnetic forces exerted by the magnet 12 and the first coil 11 on the built-in magnet 21 are in the same direction, thereby effectively positioning the capsule endoscope 20 on the central axis C of the first coil 11.

[0059] Additionally, in some examples, the magnet 12 may be disposed above the first coil 11 . In other examples, the magnet 12 may be disposed below the first coil 11 .

[0060] In some examples, the magnet 12 may be preferably disposed in the hollow structure of the first coil 11. In this case, the magnetic center lines of the first coil 11 and the magnet 12 can be aligned, thereby facilitating magnetic control operations, such as effectively positioning the capsule endoscope 20 on the central axis C of the first coil 11.

[0061] Additionally, in some examples, the magnet 12 can be positioned relatively fixedly within the hollow structure of the first coil 11. Specifically, the magnet 12 can rotate freely within the hollow structure, but the relative position of the magnet 12 and the first coil 11 can remain unchanged in both the horizontal and vertical directions. In this case, the capsule endoscope 20 can be effectively positioned and its rotation can be conveniently controlled.

[0062] In addition, in some examples, when the magnet 12 is a regular shape, the magnet 12 can rotate with its geometric center as the center of rotation. For example, if the magnet 12 is a sphere, the magnet 12 can rotate with its center of rotation as the center of the sphere. In this case, the vertical and horizontal components of the magnetic force generated by the magnet 12 on the built-in magnet 21 can be easily controlled and calculated, thereby facilitating the corresponding adjustment of the first current of the first coil 11 to adjust the first variable magnetic field. In addition, in some examples, when the magnet 12 is an irregular shape, the magnet 12 can rotate with its center of gravity as the center of rotation.

[0063] Specifically, for example, when the magnetic axis of the magnet 12 is in a vertical direction (in this case, the magnetic axis of the magnet 12 can be collinear with the central axis of the first coil 11) and generates a magnetic attraction force on the built-in magnet 21, causing the capsule endoscope 10 to adhere to the upper wall of the tissue cavity 31 (relative to the ground), if the magnet 12 rotates, that is, the direction of the magnetic axis of the magnet 12 changes, the magnetic attraction force exerted by the magnet 12 on the built-in magnet 21 in the vertical direction decreases. In order to prevent the capsule endoscope 20 from moving due to its own gravity, such as falling, it is necessary to adjust the first variable magnetic field to correspondingly adjust the magnetic attraction force exerted by the first coil 11 on the built-in magnet 21, so that the capsule endoscope 20 remains attached to the upper wall of the tissue cavity 31.

[0064] (Second Coil 13)

[0065] In addition, in some examples, the magnetron device 10 may further include a second coil 13 (see Figure 1 or Figure 3 The second coil 13 can generate a second variable magnetic field to generate a magnetic force on the built-in magnet 21. This makes it easier to control the capsule endoscope 20.

[0066] In addition, in some examples, the tissue cavity 31 may be located between the first coil 11 and the second coil 13. In this case, by disposing the first coil 11 and the second coil 13 on opposite sides of the tissue cavity 31, magnetic forces can be applied to the built-in magnet 21 on the opposite sides, respectively, thereby conveniently controlling the capsule endoscope 20.

[0067] Additionally, in some examples, the second variable magnetic field can be determined by a second current flowing through the second coil 13, and the second variable magnetic field can be adjusted by adjusting the magnitude or direction of the second current. In this case, adjusting the second current can conveniently adjust the second variable magnetic field, such as its magnitude and direction, and thus the magnetic force exerted by the second coil 13 on the built-in magnet 21.

[0068] In some examples, by setting a regular shape for the second coil 13, the capsule endoscope 20 can be conveniently positioned. Specifically, under the action of the second variable magnetic field, on a plane perpendicular to the magnetic axis of the second coil 13, the point that intersects with the magnetic axis is always the point where the magnetic field intensity is the largest in the plane. Based on this theory, when the built-in magnet 21 is acted upon by the magnetic force of the second variable magnetic field, it always tends to approach the magnetic axis of the second coil 13. In this case, by determining the magnetic axis of the second coil 13, the capsule endoscope 20 can be conveniently positioned. That is, by setting a regular shape for the second coil 13, the central axis of the second coil 13 can be conveniently determined, thereby conveniently determining the magnetic axis of the second coil 13 when the second variable magnetic field is generated, and further, the capsule endoscope 20 can be conveniently positioned.

[0069] In addition, in some examples, the shape of the second coil 13 can be selected from one of regular shapes such as a cube, a cuboid, a triangular prism, a hexagonal prism, and a cylinder. In this case, by setting a regular shape for the second coil 13, the geometric axis of the second coil 13, such as the central axis, can be easily determined, thereby conveniently determining the magnetic axis of the second coil 13. For a magnetic element of a regular shape, generally, the magnetic axis of the magnetic element is collinear with the central axis. That is, by setting a regular shape for the second coil 13, when the second current is passed through the second coil 13, i.e., when a second variable magnetic field is generated, the magnetic axis of the second coil 13 can be easily determined by determining the central axis of the second coil 13, thereby conveniently positioning the capsule endoscope 20.

[0070] In addition, in some examples, the second coil 13 may preferably be in the shape of a cylinder, in which case the inner space of the second coil 13 can be effectively utilized.

[0071] Additionally, in some examples, the central axis of the second coil 13 can be arranged in a vertical direction. As described above, because the internal magnet 21 always tends to approach the magnetic axis of the second coil 13 when subjected to the magnetic force of the second variable magnetic field, the capsule endoscope 20 always tends to approach the central axis of the second coil 13. In this case, by arranging the central axis of the second coil 13 in a vertical direction, the capsule endoscope 20 can be effectively constrained to the central axis of the second coil 13, and the magnetic force on the capsule endoscope 20 is only generated in the vertical direction, thereby facilitating the positioning and control of the capsule endoscope 20.

[0072] Figure 3 1 is a schematic diagram showing the structure between the first coil 11 and the second coil 13 of the magnetron device 10 according to an embodiment of the present disclosure.

[0073] In some examples, the second coil 13 may pass through the center axis C of the first coil 11 (see Figure 3 Preferably, the center axis of the second coil 13 and the center axis C of the first coil 11 can be collinear (see Figure 3 In this case, the first coil 11 and the second coil 13 can exert magnetic force on the built-in magnet 21 in the same straight line, thereby accurately positioning and controlling the capsule endoscope 20. Specifically, when the magnetic axis of the first coil 11 and the magnetic axis of the second coil 13 are both vertical, they can effectively constrain the capsule endoscope 20, constraining it to the central axis C of the first coil 11, which is also the central axis of the second coil 13.

[0074] In addition, in some examples, the structure between the first coil 11 and the second coil 13 can keep the first coil 11 and the second coil 13 relatively stationary in the horizontal direction. In this case, it is possible to effectively prevent the capsule endoscope 20 from unexpectedly moving due to changes in the external magnetic field caused by the relative displacement of the first coil 11 and the second coil 13 in the horizontal direction, thereby accurately positioning and controlling the capsule endoscope 20. Specifically, for example, when the central axis C of the first coil 11 and the central axis of the second coil 13 are both in the vertical direction, if the first coil 11 and the second coil 13 are kept relatively stationary in the horizontal direction, the capsule endoscope 20 can be effectively constrained to the aforementioned central axis C.

[0075] In addition, in some examples, the diameter of the second coil 13 may be greater than, equal to, or smaller than the diameter of the first coil 11. Preferably, the diameter of the second coil 13 may be smaller than the diameter of the first coil 11. In this case, by setting the first coil 11 and the second coil 13 to have different diameters, the capsule endoscope 20 can be better constrained.

[0076] (Motion mechanism 14)

[0077] In addition, in some examples, the magnetic control device 10 may further include a multi-dimensional motion mechanism 14 (see Figure 1 The motion mechanism 14 is capable of free movement along at least the X, Y, and Z axes. The motion mechanism 14 is connected to the first coil 11, the magnet 12, and the second coil 13 and controls their movement. This facilitates adjustment of the positions of the first coil 11, the magnet 12, and the second coil 13, thereby conveniently adjusting the external magnetic field that the magnetron device 10 generates to exert a magnetic force on the internal magnet 21.

[0078] In addition, in some examples, the motion mechanism 14 may include a rotating component (not shown) capable of controlling the rotation of the magnet 12. Thus, the rotation of the magnet 12 can be conveniently controlled.

[0079] (Examination bed 15)

[0080] In addition, in some examples, the magnetic control device 10 may further include an examination bed 15 for carrying the subject 30 (see Figure 1 The magnetic control device 10 applies an external variable magnetic field to the capsule endoscope 20 within the subject 30 placed on the examination bed 15. This external variable magnetic field generates a magnetic force on the built-in magnet 21 of the capsule endoscope 20 within the tissue cavity 31 of the subject 30, thereby controlling the movement of the capsule endoscope 20 within the tissue cavity 31. In some examples, the examination bed 15 can be placed on a horizontal surface, in which case the subject 30 can lie flat on the examination bed 15 for examination of the tissue cavity 31.

[0081] In some examples, the examination bed 15 can be fixed to the ground. In other examples, the examination bed 15 can be connected to a motion mechanism 15. The motion mechanism 15 can control the examination bed 15 and the subject 30 placed on the examination bed 15 to move relative to the magnetic field assembly (including the first coil 11, the magnet 12, and the second coil 13), for example, along the XYZ three-dimensional coordinate axes, thereby moving the examination bed 15 and the subject 30 placed on the examination bed 15 to an appropriate position.

[0082] In addition, in some examples, when examining the tissue cavity 31 of the subject 30, the position of the examination bed 15 can remain unchanged, and the relative position between the magnetic field assembly (including the first coil 11, the magnet 12, and the second coil 13) and the examination bed 15 can be adjusted by moving the magnetic field assembly (including the first coil 11, the magnet 12, and the second coil 13), thereby changing the external magnetic field (including the first variable magnetic field, the second variable magnetic field, and the magnetic field generated by the magnet) that exerts a magnetic force on the built-in magnet 21. In this case, it is possible to effectively prevent the capsule endoscope 20 from unexpectedly moving, such as shaking, within the tissue cavity 31 due to the movement of the examination bed 15.

[0083] In addition, in some examples, when examining the tissue cavity 31 of the subject, the position of the magnetic field assembly (including the first coil 11, the magnet 12, and the second coil 13) can be maintained unchanged, and the relative position between the magnetic field assembly (the first coil 11, the magnet 12, and the second coil 13) and the examination bed 15 can be adjusted by moving the examination bed 15, thereby changing the external magnetic field (including the first variable magnetic field, the second variable magnetic field, and the magnetic field generated by the magnet) that exerts a magnetic force on the built-in magnet 21. In this case, the structure between the magnetic field assemblies can be simplified, thereby effectively reducing the coupling relationship between the magnetic field assemblies.

[0084] In addition, in some examples, when examining the tissue cavity 31 of the subject, the magnetic field assembly (including the first coil 11, the magnet 12 and the second coil 13) and the examination bed 15 can be moved simultaneously to adjust the relative position between the magnetic field assembly and the examination bed 15.

[0085] (Magnetic sensor 16)

[0086] In addition, in some examples, the magnetic control device 10 may further include a magnetic sensor 16 (see Figure 1 ). The magnetic sensor 16 has a known relative position with other components of the magnetic control device 10, such as the magnetic field component (including the first coil 11, the magnet 12 and the second coil 13), the motion mechanism 14 and the examination bed 15. The magnetic sensor 16 can detect the magnetic field generated by the built-in magnet 21 and calculate the position of the magnetic sensor 16 relative to the built-in magnet 21 based on the model of the magnetic dipole of the built-in magnet 21, thereby obtaining the position of the capsule endoscope 20 relative to the magnetic sensor 16. Furthermore, through the relative position between the magnetic sensor 16 and other components of the magnetic control device 10, the position of the capsule endoscope 20 relative to the magnetic field component (the first coil 11, the magnet 12 and the second coil 13) can be known, thereby facilitating the adjustment of the magnetic field component to adjust the magnetic force exerted on the built-in magnet 21 by the external magnetic field (the first variable magnetic field generated by the first coil 11, the magnetic field generated by the magnet 12, and the second variable magnetic field generated by the second coil 13).

[0087] In some examples, the magnetic sensor 16 may be arranged near the first coil 11, for example, directly below the first coil 11, and the central axis of the first coil 11 may pass through the geometric center of the magnetic sensor 16. In other examples, the magnetic sensor 16 may be arranged near the second coil 13, for example, directly above the second coil 13, and the central axis of the second coil 13 may pass through the geometric center of the magnetic sensor 16.

[0088] Specifically, the magnetic sensor 16 can be composed of at least one three-axis magnetic sensor, or can be composed of two or more two-axis magnetic sensors, or can be composed of three or more one-axis magnetic sensors. In some examples, the magnetic sensor 16 can be arranged below the first coil 11 and remain relatively stationary with the first coil 11. In other examples, the magnetic sensor 16 can be arranged above the second coil 13 and remain relatively stationary with the second coil 13. In other examples, the magnetic sensor 16 can be arranged on the examination bed.

[0089] Before the capsule endoscope 20 enters the tissue cavity 31, the background magnetic field (X) generated by the magnetic field component (including the first coil 11, the magnet 12 and the second coil 13) of the magnetic control device 10 can be detected in advance. m0 , Y m0 , Zm0 When the capsule endoscope 20 is located at any point in the tissue cavity 31, the magnetic field strength received by the magnetic sensor 16 is (Xs, Ys, Zs), and the magnetic field generated by the magnetic control device 10 is (Xs, Ys, Zs). m1 , Y m2 , Z m3 At this time, if the relative positions of the first coil 11, the magnet 12 and the second coil 13 remain fixed, the magnitude of the first current or the second current or the direction of the magnet 12 can be adjusted to adjust (X m1 , Y m2 , Z m3 ) is adjusted to (X m0 , Y m0 , Z m0 At this time, the magnetic field strength generated by the built-in magnet 21 in the capsule endoscope 20 is (Xc, Yc, Zc) = (Xs-X m0 , Ys-Y m0 , Zs-Z m0 ), and then using the magnetic dipole model of the built-in magnet 21 of the capsule endoscope 20, the relative position of the capsule endoscope 20 relative to the magnetic sensor 16 can be calculated, thereby being able to calculate the position of the capsule endoscope 20 relative to the first coil 11, the magnet 12 or the second coil 13.

[0090] In addition, based on the positioning position of the capsule endoscope 20 obtained by the magnetic sensor 16, the movement path of the capsule endoscope 20 in the tissue cavity 31 can be planned and adjusted so that the image acquisition area of ​​the capsule endoscope 20 substantially covers the tissue cavity 31. Thus, the movement path of the capsule endoscope 20 in the tissue cavity 31 can be reasonably optimized. For example, the density of image acquisition by the capsule endoscope 20 can be increased in areas where lesions may be present, thereby enabling the capsule endoscope 20 to fully and specifically capture images of the tissue cavity 31.

[0091] Furthermore, in this embodiment, the tissue cavity 31 is not particularly limited and may be a digestive cavity such as a stomach cavity, a large intestine cavity, a small intestine cavity, or the like.

[0092] The following describes in detail how the magnetic control device 10 controls the movement of the capsule endoscope 20 in the stomach cavity and acquires images, taking the stomach cavity as an example. However, it should be noted that the magnetic control device 10 for controlling the capsule endoscope 20 in this embodiment is also applicable to other tissue cavities 31 mentioned above.

[0093] Figure 6 FIG. 1 is a simplified flow chart showing a method for controlling the capsule endoscope 20 to move within the tissue cavity 31 by the magnetic control device 10 according to an embodiment of the present disclosure. Figure 6As shown, the magnetic control device 10 controls the capsule endoscope 20 to move in the gastric cavity, which may include the following steps: allowing the capsule endoscope 20 to enter the gastric cavity (step S100); preliminarily adjusting the relative position between the magnetic control device 10 and the capsule endoscope 20 (step S200); adjusting the magnetic field component to adjust the magnetic force acting on the built-in magnet 21 (step S300); moving the magnetic control device 10 or the examination bed 16 to control the capsule endoscope 20 to move in the horizontal and vertical directions (step S400); executing the above steps S100 to S400 to enable the capsule endoscope 20 to reach a predetermined area in the tissue cavity 31, rotating the magnet 12 to adjust the posture (deflection angle) of the capsule endoscope 20, and controlling the capsule endoscope 20 to acquire images (step S500).

[0094] Figure 7 FIG. 1 is a schematic diagram showing a typical path of the capsule endoscope 20 according to an embodiment of the present disclosure moving in the tissue cavity 31. Figure 7 , the magnetic control device 10 controlling the movement of the capsule endoscope 20 in the gastric cavity is described in detail.

[0095] First, for example, under the guidance of a doctor, the patient 30 can lie flat on an examination bed 15 positioned between a first coil 11 (e.g., cylindrical) and a second coil 13 (e.g., cylindrical). The patient swallows the capsule endoscope 20, allowing it to enter the stomach cavity. After the capsule endoscope 20 enters the stomach cavity, the magnetic field assembly of the magnetic control device 10 is initially adjusted so that the second coil 13 of the magnetic field assembly is approximately located below the stomach cavity. The doctor reads the magnetic field information sensed by the magnetic sensor 16 positioned above the second coil 13 and uses this magnetic field information to determine the approximate position of the capsule endoscope 20. Based on the approximate position of the capsule endoscope 20, the first coil 11 and magnet 12 (e.g., positioned within the hollow structure of the first coil 11) are moved vertically. Under the magnetic field force of the magnet 12, the capsule endoscope 20 is positioned at or near an upright position at a point P1 at the bottom of the stomach cavity. In some examples, the examination bed 15 can remain stationary relative to the ground, that is, the stomach cavity can remain stationary relative to the ground, and the magnetic field assembly of the magnetic control device 10 can be moved to adjust the relative position between the magnetic field assembly of the magnetic control device 10 and the examination bed 15. However, this embodiment is not limited to this. Alternatively, the magnetic field assembly of the magnetic control device 10 can be kept stationary relative to the ground, and the relative position between the magnetic field assembly of the magnetic control device 10 and the examination bed 15 can be adjusted by moving the examination bed 15.

[0096] Then, keep the first coil 11 and the magnet 12 relatively still, and the magnetic axis of the first coil 11 and the magnetic axis of the magnet 12 are both in the vertical direction (it should be noted that at this time, the magnetic axis of the magnet 12 and the central axis of the magnet 12 are collinear). Adjust the first current flowing through the first coil 11 to adjust the magnetic attraction exerted on the capsule endoscope 20 in the vertical direction, so that the capsule endoscope 20 can move vertically toward the upper part of the gastric cavity to a certain point P2 in the upper part of the gastric cavity. At this time, due to the action of magnetic force, P1 and P2 are both located at or close to the magnetic axis of the first coil 11, that is, the central axis C of the first coil 11 (see Figure 7 ).

[0097] Next, the relative position between the magnetic field component of the magnetic control device 10 and the examination bed 15 is adjusted in the horizontal direction, and the first current is adjusted to adjust the magnetic attraction force on the capsule endoscope 20 in the vertical direction, for example, to make the magnetic attraction force slightly smaller than the gravity force on the capsule endoscope 20, so that the capsule endoscope 20 can fall freely to a certain point P3 at the bottom of the stomach cavity under the action of gravity. In some examples, the examination bed 15 can be kept stationary relative to the ground, and the magnetic component of the magnetic control device 10 can be moved (see Figure 7 The capsule endoscope 20 is controlled to move horizontally by moving the magnet 21 of the first coil 11 (in the direction of the arrow shown). Specifically, because the built-in magnet 21 of the capsule endoscope 20 tends to approach the central axis C of the first coil 11, the relative position between the central axis C and the capsule endoscope 20 is changed in the horizontal direction, thereby enabling the capsule endoscope 20 to move horizontally. However, this embodiment is not limited to this. For example, the magnetic component of the magnetic control device 10 can be kept stationary relative to the ground, and the stomach cavity can be moved by moving the examination bed 15 to change the relative position between the central axis C and the capsule endoscope 20, thereby enabling the capsule endoscope 20 to move horizontally. As described above, since the capsule endoscope 20 always tends to approach the magnetic axis of the first coil 11, that is, the central axis C of the first coil 11 (it should be noted that this is also the magnetic axis of the magnet 12), that is, is constrained by the central axis, the landing point P3 of the capsule endoscope 20 at the bottom of the gastric cavity can be determined by the magnetic axis of the first coil 11, that is, the central axis C of the first coil 11. P3 is located at or near the central axis C of the first coil 11 (see Figure 7 ).

[0098] Finally, the above steps are repeated, and the relative position between the magnetic field assembly of the magnetic control device 10 and the examination bed 15 is adjusted in the horizontal direction, so that the capsule endoscope 20 can be controlled to move in the gastric cavity while being constrained by the central axis C of the first coil 11, that is, while being positioned on the central axis C of the first coil 11 (see Figure 7 ), and controls the capsule endoscope 20 to collect images in the tissue cavity 31. Thus, the capsule endoscope 20 can fully collect images in the gastric cavity.

[0099] Figure 8 Schematic diagram showing a posture (deflection angle) of the capsule endoscope 20 in the tissue cavity 31 for image acquisition according to the embodiment of the present disclosure. Figure 8 , the magnetic control device 10 adjusts the posture (deflection angle) of the capsule endoscope 20 when collecting images in the gastric cavity is described in detail:

[0100] like Figure 8 As shown, for example, when the capsule endoscope 20 is located Figure 7 When the capsule endoscope 20 is at position P3 as shown, the magnet 12 is rotated to adjust the posture (deflection angle) of the capsule endoscope 20 and control the capsule endoscope 20 to collect images in the gastric cavity. Specifically, the capsule endoscope 20 can rotate with P3 as the vertex and the central axis C as the axis. When the capsule endoscope 20 collects images in the gastric cavity, the other components of the magnetic control device 10 are kept stationary relative to the ground. As mentioned above, due to the magnetic force generated by the first coil 11 on the capsule endoscope 20, the capsule endoscope 20 is constrained to the central axis C of the first coil 11 when collecting images. In this case, the capsule endoscope 20 can be effectively positioned at a certain position for sufficient image collection. For example, if the image collected by the capsule endoscope 20 shows that the tissue wall at position P3 is more complicated or there may be a lesion, the capsule endoscope 20 can be positioned at this position and image collection can be performed in a variety of different postures (deflection angles).

[0101] Although the present disclosure has been described in detail above with reference to the accompanying drawings and examples, it will be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope of the present disclosure.

[0102] Various examples of the present disclosure have been described above in the detailed description. Although these descriptions directly describe the above examples, it should be understood that modifications and / or variations of the specific examples shown and described herein may be conceivable to those skilled in the art. Any such modifications and / or variations that fall within the scope of this specification are also included therein. Unless otherwise specified, it is the inventor's intention that the words and phrases in the specification and claims be given the ordinary and customary meanings of those skilled in the art.

Claims

1. A magnetic control device capable of positioning a capsule endoscope, wherein the capsule endoscope has a built-in magnet, characterized in that: The magnetic control device includes: a first coil, which generates a first variable magnetic field; a second coil, which generates a second variable magnetic field; a magnet, which is rotatably arranged near the first coil and generates a magnetic force on the built-in magnet of the capsule endoscope; and a magnetic sensor, which obtains the first magnetic field generated by the magnetic control device before the capsule endoscope enters the tissue cavity of the subject, and is configured to obtain the magnetic field jointly generated by the magnetic control device and the built-in magnet of the capsule endoscope as a second magnetic field when the capsule endoscope enters any point in the tissue cavity of the subject, adjust the current of the first coil or the second coil or the deflection of the magnet to restore the magnetic field generated by the magnetic control device to the first magnetic field, and after the restoration, use the difference between the second magnetic field and the first magnetic field as the third magnetic field generated by the built-in magnet, and obtain the relative position of the capsule endoscope with respect to the magnetic sensor based on the third magnetic field and the magnetic dipole model of the built-in magnet.

2. The magnetron device according to claim 1, wherein: The magnetic axis of the first coil and the magnetic axis of the second coil are arranged in the vertical direction, and the first coil and the second coil do not have relative displacement in the horizontal direction.

3. The magnetron device according to claim 1 or 2, characterized in that: The first coil has a hollow structure, and the magnet is located in the hollow structure.

4. The magnetron device according to claim 1, wherein: The diameter of the first coil is greater than that of the second coil, and the magnet is freely rotatable within the first coil.

5. The magnetron device according to claim 1, wherein: The magnet is rotated to control the deflection of the capsule endoscope in the tissue cavity.

6. The magnetron device according to claim 1, wherein: The first variable magnetic field is determined by a first current flowing through the first coil, and the second variable magnetic field is determined by a second current flowing through the second coil. The magnetic force applied by the magnet, the first coil and / or the second coil to the built-in magnet is adjusted to move the capsule endoscope along a predetermined route.

7. The magnetron device according to claim 1, wherein: An examination bed for carrying the subject is also included, and the examination bed is movable relative to the first coil, the second coil, and the magnet.

8. The magnetron device according to claim 1, wherein: The invention also includes a motion mechanism, which is connected to the first coil, the second coil and the magnet, and controls the first coil, the second coil and the magnet to move.

Images