Magnetic control device with positioning function

Abstract

The disclosure describes a magnetic control device with positioning function, which is a magnetic control device for positioning a capsule endoscope moving in a tissue cavity, the capsule endoscope having a first magnet, comprising: a magnetic field assembly generating a first magnetic field, a magnetic sensor detecting a second magnetic field generated by the magnetic field assembly and the first magnet, obtaining a third magnetic field generated by the first magnet based on the first magnetic field and the second magnetic field, and obtaining the relative position of the capsule endoscope and the magnetic sensor based on the third magnetic field and the magnetic dipole model of the first magnet. According to the disclosure, the movement of the capsule endoscope in the tissue cavity can be accurately positioned and controlled.

Description

[0001] The present application is a divisional application of the patent application with application number CN201910996384.X, titled "Magnetic control device", and with a filing date of October 18, 2019. TECHNICAL FIELD

[0002] The present disclosure relates to the field of magnetic control, and in particular, to a magnetic control device with positioning function. BACKGROUND

[0003] With the development of modern medical technology, lesions in the stomach cavity (such as polyps on the stomach wall) can be examined by a capsule endoscope. Through the capsule endoscope, doctors and the like can conveniently obtain information of the lesion area in the stomach 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 built-in magnet to control the movement of the capsule endoscope in the stomach cavity. Specifically, doctors, nurses or other operators control the external magnetic control device to magnetically guide the capsule endoscope located in the stomach cavity to move in the stomach cavity and collect images of the stomach cavity (e.g., the lesion area), and then transmit the collected images to an external device through wireless transmission or the like. Through the external device, doctors and the like can examine and diagnose the stomach cavity of the patient.

[0004] When the capsule endoscope is guided by the magnetic control device described above to examine the stomach cavity of a patient, in order to obtain accurate examination results, the magnetic control device should be able to accurately position and control the movement of the capsule endoscope in the stomach cavity to sufficiently collect images in the stomach cavity. For example, the existing magnetic control device usually uses a spherical magnet to rotate to control the capsule endoscope to roll on the stomach wall of the stomach cavity, thereby guiding the movement of the capsule endoscope. However, such a magnetic control device and method cannot well achieve the accurate positioning and control of the capsule endoscope. SUMMARY

[0005] The present disclosure is proposed in view of the above-mentioned prior art, and aims to provide a magnetic control device capable of achieving accurate positioning and control for controlling the movement of a capsule endoscope with a built-in magnet in a tissue cavity.

[0006] To this end, the present disclosure provides a magnetic control device, characterized in that it comprises: a first coil generating a first variable magnetic field; and a magnet 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 exert a magnetic force on the built-in magnet in such a way that the built-in magnet is magnetically constrained to the central axis.

[0007] In the magnetic control device according to the present disclosure, a magnet is rotatably disposed near a first coil and passes through a central axis of the first coil, and the magnet and the first coil apply a magnetic force to the built-in magnet in such a manner that the built-in magnet is magnetically restrained to the central axis. In this case, the capsule endoscope can be precisely positioned by being restrained to the central axis by the magnetic force when the capsule endoscope moves within the tissue cavity, and thus the capsule endoscope can be precisely controlled to move.

[0008] In addition, in the magnetic control device according to the present disclosure, the magnetic control device further includes a second coil that generates a second variable magnetic field, and the tissue cavity is located between the first coil and the second coil. In this case, by providing the coils on opposite sides of the tissue cavity, the built-in magnet can be applied with a magnetic force on each of the opposite sides, and thus the capsule endoscope can be precisely controlled.

[0009] In addition, in the magnetic control device according to 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, by adjusting the first current and the second current, the first variable magnetic field and the second variable magnetic field can be easily adjusted, and thus the magnetic force applied to the built-in magnet by the first coil and the second coil can be easily adjusted.

[0010] In addition, in the magnetic control device according to the present disclosure, the second coil passes through the central axis. In this case, the first coil and the second coil can apply a magnetic force to the built-in magnet, and thus the capsule endoscope can be better restrained 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 relatively displace in a horizontal direction. In this case, the capsule endoscope can be stably controlled to move.

[0012] In addition, in the magnetic control device according to the present disclosure, the first coil has a larger diameter than the second coil, and the magnet is freely rotatable within the first coil. In this case, by providing electromagnetic coils having different diameters, the capsule endoscope can be better restrained, and by freely rotating the magnet, the capsule endoscope can be easily controlled to be deflected to adjust a posture (deflection angle) when an image is captured.

[0013] In addition, in the magnetic control device according to the present disclosure, the deflection of the capsule endoscope located within the tissue cavity is controlled by rotating the magnet. Thus, the posture (deflection angle) of the capsule endoscope when an image is captured can be easily controlled.

[0014] Furthermore, in the magnetic control device disclosed herein, the magnetic force applied by the magnet and the first coil to the built-in magnet is adjusted to cause the capsule endoscope to move along a predetermined path. This allows the capsule endoscope to acquire images more fully within the tissue cavity by establishing a predetermined path.

[0015] Furthermore, in the magnetically controlled device disclosed herein, the magnetic axis of the magnet remains collinear with the central axis as the capsule endoscope moves along the predetermined path. In this case, the capsule endoscope can be effectively constrained along the central axis of the first coil during movement.

[0016] Furthermore, in the magnetic control device disclosed herein, the magnet is a permanent magnet. Therefore, by using a permanent magnet, a stable magnetic force can be applied to the built-in magnet.

[0017] According to the magnetic control device disclosed herein, a magnetic control device can be provided for controlling the movement of a capsule endoscope with a built-in magnet within a tissue cavity, enabling precise positioning and control. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the overall structure of the magnetic control device according to the embodiments of this disclosure.

[0019] Figure 2 This is a partial structural diagram showing the relationship between the first coil and the magnet of the magnetic control device according to an embodiment of the present disclosure.

[0020] Figure 3 This is a schematic diagram showing the structure between the first coil and the second coil of the magnetic control device according to an embodiment of the present disclosure.

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

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

[0023] Figure 6 This is a simplified flowchart illustrating a method for controlling the movement of a capsule endoscope within a tissue cavity using a magnetically controlled device according to an embodiment of this disclosure.

[0024] Figure 7 This is a schematic diagram illustrating a typical path of movement of a capsule endoscope according to an embodiment of the present disclosure within a tissue cavity.

[0025] Figure 8This is a schematic diagram illustrating one posture of the capsule endoscope according to an embodiment of the present disclosure for image acquisition within a tissue cavity.

[0026] Explanation of reference numerals in the attached figures:

[0027] 10…Magnetic control device, 11…First coil, 12…Magnet, 13…Second coil, 14…Motion mechanism, 15…Examination bed, 16…Magnetic sensor, 20…Capsule endoscope, 201…Main housing, 202…End housing, 21…Built-in magnet, 22…Acquisition module, 221…Camera unit, 222…Illumination unit, 23…Power supply module, 24…Transmission module, 30…Subject, 31…Tissue cavity, C…Central axis of the first coil. Detailed Implementation

[0028] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same components, and repeated descriptions are omitted. Furthermore, the drawings are merely schematic diagrams, and the proportions of the components or the shapes of the components may differ from actual figures.

[0029] It should be noted that the terms "comprising" 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 that are explicitly listed, but may include or have other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0030] Furthermore, the subheadings and similar terms used in the following description of this disclosure are not intended to limit the content or scope of this disclosure, but merely serve as reading prompts. Such subheadings should not be construed as dividing the content of the article, nor should the content under a subheading be limited to the scope of that subheading.

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

[0032] In this embodiment, such as 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 passes 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 apply magnetic force to the built-in magnet 21 in such a way that the built-in magnet 21 is constrained to the central axis C of the first coil 11, thereby controlling the movement of the capsule endoscope 20 within the tissue cavity 31 of the subject 30.

[0033] In the magnetic control device 10 of this embodiment, a 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 apply magnetic force to the built-in magnet 21 in such a way that the built-in magnet 21 is magnetically constrained along 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 it along the central axis C of the first coil 11, enabling precise positioning of the capsule endoscope 20 and precise control of its movement within the tissue cavity 31. By controlling the capsule endoscope 20 according to the magnetic control device 10 of this disclosure, the movement path of the capsule endoscope 20 within the tissue cavity 31 can more comprehensively cover the area requiring image acquisition, thereby enabling more thorough and specific acquisition of images within the tissue cavity 31, such as images of the inner wall of the tissue cavity 31, which helps doctors to make accurate diagnoses and treatments of the subject 30.

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

[0035] (Capsule endoscope 20)

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

[0037] like Figure 4 , Figure 5As shown, in this embodiment, the capsule endoscope 20 can be a medical device formed into a tissue cavity 31 of a subject 30 (e.g., a human body 30) and shaped like a capsule. From an external perspective, the capsule endoscope 20 can have a capsule-shaped shell (see...). Figure 4 In some examples, the capsule-shaped shell can consist of a cylindrical main shell 201 and two hemispherical end shells 202 located at both ends of the main shell 201. The main shell 201 and the end shells 202, when combined, form an airtight encapsulation structure, i.e., a capsule-shaped shell, thereby maintaining a liquid-tight state inside the capsule endoscope 20. In some examples, the end shells 202 can be connected to the main shell 201 by screwing. In other examples, the end shells 202 can also be connected to the main shell 201 by adhesive bonding.

[0038] Additionally, in some examples, the end housing 202 may be a transparent optical element capable of transmitting light of a specified wavelength (e.g., visible light), wherein both end housings 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 also include a data acquisition module 22, a power supply module 23, and a transmission module 24 (see [link to documentation]). Figure 5 The acquisition module 22 may include an imaging unit 221 and an illumination unit 222, and is arranged at the same end as the transparent end housing 202. The capsule endoscope 20 can acquire images within the gastric cavity via the acquisition module 22. For example, the capsule endoscope 20 can acquire images within a tissue cavity (e.g., the gastric cavity) 31 by taking photographs using the imaging unit 221, such as photographing the inner wall of the tissue cavity (e.g., the stomach wall). The illumination unit 222 can be used to provide illumination to the area where images are to be acquired, thereby helping the imaging unit 221 to take clear photographs. 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 images acquired by the acquisition module 22 within the tissue cavity 31 (e.g., the gastric cavity) to the external device for further processing.

[0040] In some examples, the transmission module 24 can transmit signals wirelessly via Bluetooth, Near Field Communication (NFC), or Wi-Fi. This facilitates real-time communication between the capsule endoscope 20 and external devices. In other examples, the transmission module 24 can also transmit signals via wired methods such as USB, HDMI, or VGA. In this case, when the capsule endoscope 1 is expelled from the body, the capsule endoscope 20 can transmit signals to external devices via wired methods, effectively reducing power consumption in the capsule endoscope 20 and enabling signal transmission even when the capsule endoscope 20 is depleted.

[0041] Additionally, in some examples, the capsule endoscope 20 may also include a storage module (not shown). This allows for convenient storage of images acquired by the acquisition module 22 within a tissue cavity (e.g., the stomach cavity) 31.

[0042] In some examples, the shape of the built-in magnet 21 of the capsule endoscope 20 can be one of the regular shapes such as a cube, cuboid, triangular prism, hexagonal prism, or 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 making it easy to determine the direction of the magnetic force applied by the magnetic control device 10 to the built-in magnet 21.

[0043] In some examples, the magnetic axis of the built-in magnet 21 has a predetermined angle with the longitudinal direction of the capsule endoscope 20. Preferably, the direction of the magnetic axis of the built-in magnet 21 can be the same as the longitudinal direction of the capsule endoscope 20. In this case, the attitude (deflection angle) of the capsule endoscope 20 can be easily adjusted by adjusting the magnetic force applied to the built-in magnet 21, such as the direction of the magnetic force.

[0044] In some examples, the capsule endoscope 20 may also include an accelerometer and a gyroscope. This allows for convenient and accurate acquisition of the attitude (deflection angle) information of the capsule endoscope 20.

[0045] In this embodiment, the magnetic control device 10 can use the external magnetic field generated by the magnetic field assembly (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) to exert a magnetic force on the built-in magnet 21 of the capsule endoscope 20, thereby controlling the movement of the capsule endoscope 20 within the tissue cavity (e.g., stomach 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 exert a magnetic force on the built-in magnet 21 of the capsule endoscope 20 through the first variable magnetic field, thereby facilitating the positioning and control of the capsule endoscope 20.

[0048] In this embodiment, the first coil 11 refers to an electromagnetic coil, i.e., a looped 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 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, increasing the first current can increase the magnetic force applied by the first coil 11 to the built-in magnet 21, and changing the direction of the first current can change the direction of the magnetic force applied by the first coil 11 to the built-in magnet 21.

[0049] Furthermore, in some examples, by setting a regular shape for the first coil 11, the capsule endoscope 20 can be easily positioned. Specifically, under the action of the first variable magnetic field, the point intersecting the magnetic axis on a plane perpendicular to the magnetic axis of the first coil 11 is always the point with the strongest magnetic field in that plane. Based on this theory, when the built-in magnet 21 is subjected to magnetic force in the first variable magnetic field, it always tends to move closer to 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. That is, by setting a regular shape for the first coil 11 and determining the central axis C of the first coil 11, 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 move closer to the magnetic axis of the first coil 11, the capsule endoscope 20 can be easily constrained to the magnetic axis of the first coil 11, thereby facilitating the positioning of the capsule endoscope 20.

[0050] Furthermore, in some examples, the shape of the first coil 11 can be selected from a regular shape such as a cube, cuboid, triangular prism, hexagonal prism, or cylinder. In this case, by setting the first coil 11 to a regular shape, the geometric axis of the first coil 11, such as the central axis C, can be easily determined, thereby facilitating the determination of the magnetic axis of the first coil 11. As mentioned above, for a regularly shaped magnetic element, the magnetic axis of the magnetic element is usually collinear with the central axis. That is, by setting the first coil 11 to a regular shape, 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 facilitating the positioning of the capsule endoscope 20.

[0051] In some examples, the central axis C of the first coil 11 can be arranged vertically. As described above, since the built-in magnet 21 always tends to move closer to 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 move closer to the central axis C of the first coil 11. In this case, by arranging the central axis C of the first coil 11 vertically, the capsule endoscope 20 can be better constrained to the central axis C of the first coil 11, and a magnetic force is generated on the capsule endoscope 20 only in the vertical direction, thereby facilitating the positioning and control of the capsule endoscope 20.

[0052] In some examples, the central axis C of the first coil 11 can be fixed in a vertical direction. This effectively prevents factors such as shaking during operation of the magnetic control device 10 from affecting the direction of the central axis C of the first coil 11. In other examples, the direction of the central axis C of the first coil 11 is adjustable. This allows for convenient adjustment of the direction of the central axis C of the first coil 11 according to the flatness of the ground where the magnetic control device 10 is placed.

[0053] In some examples, the first coil 11 can be cylindrical. This allows for efficient use of the internal space of the first coil 11. In other examples, the first coil 11 can have a hollow structure. On one hand, the hollow structure can be used to house connecting components for fixing the first coil 11. On the other hand, the hollow structure can also accommodate the magnet 12. Thus, the structural relationship between the first coil 11 and the magnet 12 can be flexibly configured.

[0054] (Magnet 12)

[0055] Additionally, 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 orientation (deflection angle) of the capsule endoscope 20. In some examples, the magnet 12 may be rotatably arranged near the first coil 11 (see [link to documentation]). 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 facilitating the adjustment of the capsule endoscope 20's orientation (deflection angle). In this case, the orientation (deflection angle) of the capsule endoscope 20 during image acquisition can be easily adjusted, allowing 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 made of a permanent magnet or an electromagnetic coil. Preferably, the magnet 12 may be made of 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] In some examples, the magnet 12 can be spherical, cylindrical, or disc-shaped (a cylinder whose length is smaller than the diameter of its base circle). This allows for easy determination of 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 to this; the magnet 12 can also adopt other regular geometric shapes, such as a prism.

[0058] Additionally, in this embodiment, the magnet 12 can pass through the central axis C of the first coil 11 (see...). Figure 2 Preferably, when both the magnetic axis of the magnet 12 and the central axis C of the first coil 11 are vertical, the magnetic axis of the magnet 12 can coincide with the central 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 applied by the magnet 12 and the first coil 11 to 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] In some examples, the magnet 12 may be positioned above the first coil 11. In other examples, the magnet 12 may be positioned below the first coil 11.

[0060] In some examples, preferably, the magnet 12 can be arranged within 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 along the central axis C of the first coil 11.

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

[0062] Furthermore, in some examples, when the magnet 12 has a regular shape, its rotation can be centered on its geometric center; for example, if the magnet 12 is a sphere, its rotation can be centered on the center of the sphere. In this case, it is convenient to control and calculate the vertical and horizontal components of the magnetic force generated by the magnet 12 on the built-in magnet 21, thereby facilitating the adjustment of the first current of the first coil 11 to regulate the first variable magnetic field. Additionally, in some examples, when the magnet 12 has an irregular shape, its rotation can be centered on its center of gravity.

[0063] Specifically, for example, when the magnetic axis of magnet 12 is vertical (in this case, the magnetic axis of magnet 12 can be collinear with the central axis of the first coil 11) and exerts a magnetic attraction force on the built-in magnet 21, causing the capsule endoscope 10 to adhere to the upper wall (relative to the ground) of the tissue cavity 31, if magnet 12 rotates, that is, the direction of the magnetic axis of magnet 12 changes, the magnetic attraction force exerted by 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 adjust the magnetic attraction force exerted by the first coil 11 on the built-in magnet 21 accordingly, so that the capsule endoscope 20 remains attached to the upper wall of the tissue cavity 31.

[0064] (Second coil 13)

[0065] Additionally, in some examples, the magnetic control device 10 may also include a second coil 13 (see...). Figure 1 or Figure 3 The second coil 13 can generate a second variable magnetic field, thereby exerting a magnetic force on the built-in magnet 21. This allows for convenient control of the capsule endoscope 20.

[0066] In some examples, the tissue cavity 31 may be located between the first coil 11 and the second coil 13. In this case, by arranging 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 opposite sides, thereby facilitating the control of the capsule endoscope 20.

[0067] 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, by adjusting the second current, the magnitude and direction of the second variable magnetic field can be easily adjusted, thereby conveniently adjusting the magnetic force applied by the second coil 13 to 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 easily positioned. Specifically, under the action of the second variable magnetic field, the point intersecting the magnetic axis on a plane perpendicular to the magnetic axis of the second coil 13 is always the point with the strongest magnetic field in that plane. Based on this theory, when the built-in magnet 21 is subjected to the magnetic force of the second variable magnetic field, it always tends to move closer to 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 easily positioned. That is, by setting a regular shape for the second coil 13, the central axis of the second coil 13 can be easily determined, thereby easily determining the magnetic axis of the second coil 13 when the second variable magnetic field is generated, and further, easily positioning the capsule endoscope 20.

[0069] Furthermore, in some examples, the shape of the second coil 13 can be selected from a regular shape such as a cube, cuboid, triangular prism, hexagonal prism, or cylinder. In this case, by setting the second coil 13 to a regular shape, the geometric axis of the second coil 13, such as the central axis, can be easily determined, thereby facilitating the determination of the magnetic axis of the second coil 13. For a regularly shaped magnetic element, the magnetic axis of the magnetic element is usually collinear with the central axis. That is, by setting the second coil 13 to a regular shape, when a second current is passed through the second coil 13, i.e., 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 facilitating the positioning of the capsule endoscope 20.

[0070] Additionally, in some examples, the second coil 13 is preferably cylindrical. In this case, the internal space of the second coil 13 can be utilized effectively.

[0071] In some examples, the central axis of the second coil 13 can be arranged vertically. As described above, since the built-in magnet 21 always tends to move closer to 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 move closer to the central axis of the second coil 13. In this case, by arranging the central axis of the second coil 13 vertically, the capsule endoscope 20 can be well constrained along the central axis of the second coil 13, and a magnetic force is generated on the capsule endoscope 20 only in the vertical direction, thereby facilitating the positioning and control of the capsule endoscope 20.

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

[0073] In some examples, the second coil 13 may pass through the central axis C of the first coil 11 (see...). Figure 3 Preferably, the central axis of the second coil 13 can be collinear with the central axis C of the first coil 11 (see...). Figure 3 In this configuration, the first coil 11 and the second coil 13 can apply magnetic force to the built-in magnet 21 in a straight line, thereby enabling precise positioning and control of the capsule endoscope 20. Specifically, when the magnetic axes of the first coil 11 and the second coil 13 are both vertical, they can effectively constrain the capsule endoscope 20, confining it to the central axis C of the first coil 11, which is also the central axis of the second coil 13.

[0074] Furthermore, in some examples, the structure between the first coil 11 and the second coil 13 allows them to remain relatively stationary in the horizontal direction. In this case, 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 can be effectively avoided, preventing unintended movement of the capsule endoscope 20, thus enabling precise positioning and control of 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 vertical, keeping the first coil 11 and the second coil 13 relatively stationary in the horizontal direction effectively constrains the capsule endoscope 20 to the aforementioned central axis C.

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

[0076] (Sports Organization 14)

[0077] Additionally, in some examples, the magnetic control device 10 may also include a multi-dimensional motion mechanism 14 (see Figure 1 The motion mechanism 14 can move freely at least along the XYZ axes. The motion mechanism 14 can be connected to and control the movement of the first coil 11, the magnet 12, and the second coil 13. This allows for convenient adjustment of the positions of the first coil 11, the magnet 12, and the second coil 13, thereby facilitating the adjustment of the external magnetic field generated by the magnetic control device 10 on the built-in magnet 21.

[0078] Additionally, in some examples, the motion mechanism 14 may include a rotating component (not shown) capable of controlling the rotation of the magnet 12. This allows for convenient control of the rotation of the magnet 12.

[0079] (Examination Bed 15)

[0080] Additionally, in some examples, the magnetic control device 10 may also include an examination bed 15 for carrying the subject 30 (see [reference]). Figure 1 The magnetic control device 10 applies an external variable magnetic field to the capsule endoscope 20 inside 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] Additionally, in some examples, the examination bed 15 may be fixed to the ground. In other examples, the examination bed 15 may be connected to a motion mechanism 15. The motion mechanism 15 may control the movement of the examination bed 15 and the subject 30 placed on the examination bed 15 relative to the magnetic field components (including the first coil 11, the magnet 12, and the second coil 13), for example, on the XYZ three-dimensional coordinate axes, thereby moving the examination bed 15 and the subject 30 on the examination bed 15 to the appropriate position.

[0082] In some examples, when examining the tissue cavity 31 of the subject 30, the position of the examination bed 15 can remain unchanged. By moving the magnetic field assembly (including the first coil 11, the magnet 12, and the second coil 13) to adjust 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, 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 can be changed. In this case, it is possible to effectively avoid unintended movement, such as shaking, of the capsule endoscope 20 within the tissue cavity 31 caused by the movement of the examination bed 15.

[0083] 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 kept constant. By moving the examination table 15, the relative position between the magnetic field assembly (first coil 11, magnet 12, and second coil 13) and the examination table 15 can be adjusted, 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] Additionally, 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] Additionally, in some examples, the magnetic control device 10 may also include a magnetic sensor 16 (see [reference]). 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 assembly (including the first coil 11, magnet 12, and second coil 13), the motion mechanism 14, and the examination table 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, by knowing 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 assembly (first coil 11, magnet 12, and second coil 13) can be determined, thereby facilitating the adjustment of the magnetic field assembly to adjust the magnetic force applied to 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 positioned 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 positioned 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 triaxial magnetic sensor, or two or more biaxial magnetic sensors, or three or more uniaxial magnetic sensors. In some examples, the magnetic sensor 16 can be positioned below the first coil 11 and remain relatively stationary. In other examples, the magnetic sensor 16 can be positioned above the second coil 13 and remain relatively stationary. In still other examples, the magnetic sensor 16 can be mounted on an examination bed.

[0089] Before the capsule endoscope 20 enters the tissue cavity 31, the background magnetic field (X) generated by the magnetic field components of the magnetic control device 10 (including the first coil 11, the magnet 12, and the second coil 13) can be detected in advance. m0 Y m0 Zm0 When the capsule endoscope 20 is located at any point within the tissue cavity 31, let the magnetic field strength received by the magnetic sensor 16 at this time be (Xs, Ys, Zs), and the magnetic field generated by the magnetic control device 10 at this time be (X... m1 Y m2 Z m3 At this time, if the relative positions between 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 deflection of the magnet 12, can be adjusted to (X) m1 Y m2 Z m3 ) adjusted to (X m0 Y m0 Z m0 At this time, the magnetic field strength (Xc, Yc, Zc) generated by the built-in magnet 21 in the capsule endoscope 20 is (Xs-X). m0 Ys-Y m0 Zs-Z m0 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 with respect to the magnetic sensor 16 can be calculated, thereby enabling the calculation of the position of the capsule endoscope 20 with respect to the first coil 11, the magnet 12, or the second coil 13.

[0090] Furthermore, based on the positioning of the capsule endoscope 20 obtained by the magnetic sensor 16, the movement path of the capsule endoscope 20 within the tissue cavity 31 can be planned and adjusted, ensuring that the image acquisition area of ​​the capsule endoscope 20 essentially covers the tissue cavity 31. This allows for the reasonable optimization of the movement path of the capsule endoscope 20 within the tissue cavity 31, for example, increasing the density of image acquisition by the capsule endoscope 20 in areas where lesions may exist, thereby enabling the capsule endoscope 20 to acquire images within the tissue cavity 31 more comprehensively and specifically.

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

[0092] The following describes in detail, using the gastric cavity as an example, how the magnetic control device 10 controls the movement of the capsule endoscope 20 within the gastric cavity and performs image acquisition. However, it should be noted that the magnetic control device 10 used to control the capsule endoscope 20 in this embodiment is also applicable to other tissue cavities 31 described above.

[0093] Figure 6 This is a simplified schematic diagram illustrating one of the processes by which the magnetically controlled device 10 controls the movement of the capsule endoscope 20 within a tissue cavity 31 according to an embodiment of this disclosure. In this embodiment, as... Figure 6As shown, the magnetic control device 10 controlling the movement of the capsule endoscope 20 within the gastric cavity may include the following steps: allowing the capsule endoscope 20 to enter the gastric cavity (step S100); initially adjusting the relative position between the magnetic control device 10 and the capsule endoscope 20 (step S200); adjusting the magnetic field assembly 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 movement of the capsule endoscope 20 in the horizontal and vertical directions (step S400); performing the above steps S100 to S400 to allow the capsule endoscope 20 to reach a predetermined area within the tissue cavity 31, rotating the magnet 12 to adjust the orientation (deflection angle) of the capsule endoscope 20, and controlling the capsule endoscope 20 to acquire images (step S500).

[0094] Figure 7 This is a schematic diagram illustrating a typical path of movement of the capsule endoscope 20 within the tissue cavity 31 according to an embodiment of this disclosure. The following, in conjunction with... Figure 7 The magnetic control device 10 controls the movement of the capsule endoscope 20 within the gastric cavity in detail.

[0095] First, under the guidance of a doctor, the patient 30 can lie flat on the examination bed 15 located between the first coil 11 (e.g., cylindrical) and the second coil 13 (e.g., cylindrical), and swallow the capsule endoscope 20 to allow 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 arranged above the second coil 13 and uses this magnetic field information to locate the approximate position of the capsule endoscope 20. Based on the approximate position of the capsule endoscope 20, the first coil 11 and the magnet 12 (e.g., arranged in the hollow structure of the first coil 11) are moved vertically. Under the action of the magnetic field force of the magnet 12, the capsule endoscope 20 is exactly or nearly upright at a certain point P1 at the bottom of the stomach cavity. In some examples, the examination bed 15 can be kept stationary relative to the ground, i.e., the stomach cavity is stationary relative to the ground, and the relative position between the magnetic field component of the magnetic control device 10 and the examination bed 15 can be adjusted by moving the magnetic field component of the magnetic control device 10. However, this embodiment is not limited to this; the magnetic field component of the magnetic control device 10 can also be kept stationary relative to the ground, and the relative position between the magnetic field component of the magnetic control device 10 and the examination bed 15 can be adjusted by moving the examination bed 15.

[0096] Then, keeping the first coil 11 and the magnet 12 relatively stationary, and with both the magnetic axis of the first coil 11 and the magnetic axis of the magnet 12 in the vertical direction (it should be noted that at this time, the magnetic axis of the magnet 12 is collinear with the central axis of the magnet 12). Adjust the first current flowing through the first coil 11 to adjust the magnetic attraction force on the capsule endoscope 20 in the vertical direction, so that the capsule endoscope 20 can move vertically towards the upper part of the stomach cavity to a certain point P2 in the upper part of the stomach cavity. At this time, due to the magnetic force, P1 and P2 are both located at or near 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, making the magnetic attraction force slightly less than the gravity acting 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 (see...) can be moved... Figure 7 (The arrows indicate the direction) to control the horizontal movement of the capsule endoscope 20. Specifically, since the built-in magnet 21 of the capsule endoscope 20 tends to move closer to 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 components of the magnetic control device 10 can be kept stationary relative to the ground, and the gastric 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 and be constrained by the magnetic axis of the first coil 11, i.e., the central axis C of the first coil 11 (which is also the magnetic axis of the magnet 12), the landing point P3 of the capsule endoscope 20 at the bottom of the stomach cavity can be determined by the magnetic axis of the first coil 11, i.e., 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, repeating the above steps and adjusting the relative position between the magnetic field assembly of the magnetic control device 10 and the examination bed 15 in the horizontal direction, it is possible to control the capsule endoscope 20 to move within the gastric cavity while being constrained by the central axis C of the first coil 11, i.e., while positioned on the central axis C of the first coil 11 (see...). Figure 7 The capsule endoscope 20 is controlled to acquire images within the tissue cavity 31. This allows the capsule endoscope 20 to acquire sufficient images within the gastric cavity.

[0099] Figure 8 This is a schematic diagram illustrating the posture (deflection angle) of the capsule endoscope 20 according to an embodiment of the present disclosure during image acquisition within a tissue cavity 31. The following is a description of this embodiment. Figure 8 The magnetic control device 10 adjusts the posture (deflection angle) of the capsule endoscope 20 during image acquisition within the gastric cavity:

[0100] like Figure 8 As shown, for example, when the capsule endoscope 20 is located Figure 7 At position P3, the rotating magnet 12 adjusts the orientation (deflection angle) of the capsule endoscope 20 and controls it to acquire images within the stomach cavity. Specifically, the capsule endoscope 20 can rotate about P3 as its vertex and about its central axis C. While the capsule endoscope 20 acquires images within the stomach cavity, the other components of the magnetic control device 10 remain stationary relative to the ground. As previously described, due to the magnetic force exerted on the capsule endoscope 20 by the first coil 11, the capsule endoscope 20 is constrained to the central axis C of the first coil 11 during image acquisition. In this case, the capsule endoscope 20 can be effectively positioned for sufficient image acquisition. For example, if the images acquired by the capsule endoscope 20 show a complex tissue wall condition or potential lesions at position P3, the capsule endoscope 20 can be positioned at that location and acquired using various orientations (deflection angles).

[0101] While the present disclosure has been specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the foregoing description does not limit the present disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as needed without departing from its essential spirit and scope, and all such modifications and variations shall fall within the scope of the present disclosure.

[0102] Various examples of this disclosure have been described above in the detailed description. Although these descriptions directly depict the examples above, it should be understood that modifications and / or variations of the specific examples shown and described herein will occur to those skilled in the art. Any such modifications and / or variations falling within the scope of this specification are also included herein. Unless specifically indicated, the inventors intend that the words and phrases in the specification and claims be given the common and customary meaning to those skilled in the art.

Claims

1. A magnetically controlled device with positioning function, which is a magnetically controlled device for positioning a capsule endoscope moving within a tissue cavity, wherein the capsule endoscope has a first magnet, characterized in that, include: A magnetic field assembly that generates a first magnetic field before the capsule endoscope enters the tissue cavity. A magnetic sensor detects a second magnetic field generated jointly by the magnetic field assembly and the first magnet after the capsule endoscope enters the tissue cavity. After the capsule endoscope enters the tissue cavity, the magnetic field of the magnetic control device is adjusted to the first magnetic field, and the third magnetic field generated by the first magnet is obtained based on the difference between the adjusted magnetic field of the magnetic control device and the second magnetic field. The relative position of the capsule endoscope and the magnetic sensor is obtained based on the third magnetic field and the magnetic dipole model of the first magnet.

2. The magnetic control device as described in claim 1, characterized in that, The magnetic field component and the magnetic sensor are arranged opposite to each other. The relative position of the capsule endoscope and the magnetic field component is obtained based on the relative position of the capsule endoscope and the magnetic sensor and the relative position of the magnetic field component and the magnetic sensor.

3. The magnetic control device as described in claim 1, characterized in that, The magnetic field assembly includes a first coil that generates a first variable magnetic field, which exerts a magnetic force on the first magnet.

4. The magnetic control device as described in claim 3, characterized in that, The magnetic sensor is positioned near the first coil, and the magnetic axis of the first coil passes through the geometric center of the magnetic sensor.

5. The magnetic control device as described in claim 3, characterized in that, The magnetic field assembly further includes a second magnet rotatably arranged near the first coil, the second magnet passing through the central axis of the first coil.

6. The magnetic control device as described in claim 3, characterized in that, The magnetic field assembly further includes a second coil that generates a second variable magnetic field, and the capsule endoscope is located between the first coil and the second coil.

7. The magnetic control device as described in claim 3, characterized in that, The magnetic sensor remains relatively stationary relative to the first coil.

8. The magnetic control device as described in claim 1, characterized in that, It also includes a motion mechanism, which is connected to the magnetic field component and controls the movement of the magnetic field component.

9. The magnetic control device as described in claim 1, characterized in that, The magnetic sensor consists of at least one triaxial magnetic sensor, or two or more biaxial magnetic sensors, or three or more uniaxial magnetic sensors.

10. The magnetic control device as described in claim 1, characterized in that, Adjust the magnetic force applied by the magnetic field assembly to the first magnet to move the capsule endoscope along a predetermined path.

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