Magnetic control device and navigation system for a capsule endoscope

Abstract

The present invention provides a magnetic control device and navigation system for a capsule endoscope, comprising a permanent magnet capsule endoscope, a synchronous hybrid magnetic field generator, a five-degree-of-freedom motion mechanism, an electromagnetic coil power supply, and a controller. The synchronous hybrid magnetic field generator comprises a permanent magnet and an electromagnetic coil, wherein the axis of the electromagnetic coil always remains consistent with the direction of the permanent magnet's magnetic poles. The five-degree-of-freedom motion mechanism is mechanically designed so that when the direction of the magnetic field changes, the motor does not rotate accordingly, making power supply more convenient. The electromagnetic coil power supply is cleverly designed to maintain and adjust the electromagnetic coil supply current, thereby controlling the magnitude of the magnetic force generated by the magnetic control device in real time. The present invention utilizes the electromagnetic field generated by the electromagnetic coil, which is synchronous in direction and adjustable in size, in conjunction with the basic magnetic field generated by the permanent magnet. This allows the magnitude of the magnetic force generated by the magnetic control device to be controllably adjusted in any direction, thus breaking away from the limitation of the magnetic field control range and effectively controlling the movement of the capsule endoscope over a wider range.

Description

Technical Field

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

[0002] Currently, capsule endoscopy is a relatively advanced diagnostic method for routine examinations of the human digestive tract. Compared to traditional gastroscopy, capsule endoscopy offers advantages such as the absence of anesthesia and intubation, painlessness, and no risk of cross-infection, significantly reducing patient suffering.

[0003] In recent years, controllable capsule endoscopes have often been driven externally. The primary approach has been to utilize magnetic fields as a driving mechanism, leveraging the force exerted by external magnetic fields on small magnets within the capsule endoscope to control its movement. Magnetic field control can be categorized as permanent magnet drive or electromagnetic drive, depending on how the magnetic field is generated. For the human body, static or low-frequency magnetic fields can pass through it unimpeded without causing any adverse reactions. Furthermore, because the human body's magnetic permeability is close to that of a vacuum, the magnetic field distribution is not distorted.

[0004] Existing controllable capsule endoscopy systems on the market generally require patients to lie down or stand for examination. For example, domestic companies such as Jinshan and Anhan have developed horizontal controllable capsule endoscopy systems that use handheld or automated magnetic control devices to effectively control the position of the capsule in the body to complete the corresponding examination. The "Dasheng Magnetic Control Capsule Endoscopy System" developed by Zifu Medical can support both standing and lying examination modes, meeting the needs of different subjects.

[0005] When examining the stomach using a steerable capsule endoscope, gastric fluid can obscure certain viewing angles, reducing imaging quality in those areas. Gastric fluid is located in different locations depending on the patient's examination position. By selecting different examination positions, imaging quality can be improved for key areas. By combining examinations in different positions, blind spots in the capsule endoscope's imaging can be eliminated.

[0006] Shanghai Anhan Medical Technology Co., Ltd. has invented a magnetic control device based on dual motors driving permanent magnets and has applied for a patent (patent number 202010664939.3). This device utilizes the installation space of the magnetic control device to achieve a more compact structure, resulting in a streamlined and compact design. However, due to the weak magnetic force of the permanent magnets and their limited controllable range, the magnetic control device must be placed as close to the subject as possible, which can cause discomfort.

[0007] Suzhou Xiangdong Manufacturing Medical Technology Co., Ltd. has invented a magnetically controlled navigation device for medical capsule endoscopes based on a hybrid magnetic field generator and has applied for a patent (Patent No. 201510975664.4). The device comprises a hybrid magnetic field generator, a multi-degree-of-freedom motion mechanism, and a controller. The hybrid magnetic field generator consists of a permanent magnet and an electromagnetic coil. The permanent magnet generates a base magnetic field, which is combined with a variable-intensity auxiliary electromagnetic field to form an adjustable hybrid magnetic field, thereby controlling the position and posture of the permanent magnet capsule endoscope within the patient's body. However, because the electromagnetic coil can generate a fixed electromagnetic field, the strength of the hybrid magnetic field is limited by the direction of the magnetic field. In particular, when the desired magnetic field direction is perpendicular to the electromagnetic field direction, the electromagnetic field cannot amplify the base magnetic field generated by the permanent magnet.

[0008] Chongqing Jinshan Medical Device Co., Ltd. has invented a capsule endoscope control system and has applied for a patent (patent number 201820010588.2). This device uses a connecting component to simultaneously drive two magnet assemblies, effectively controlling the movement of the capsule endoscope. However, the system is relatively cumbersome, including two sets of magnetic field generators. The radial rotation, axial rotation, and vertical sliding of the two sets of magnets still need to be controlled separately, making operation relatively difficult. At the same time, the control range of the capsule endoscope in this system is still limited.

[0009] Therefore, how to effectively solve the problem of small magnetic force of the magnetic control device of capsule endoscope and limited magnetic field control range is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0010] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to use a direction-synchronized and size-adjustable electromagnetic field in conjunction with the permanent magnet magnetic field to solve the problem of the small magnetic force of the magnetic control device of the capsule endoscope and the limited magnetic field control range, thereby effectively controlling the movement of the capsule endoscope in a larger range.

[0011] To achieve the above objectives, the present invention provides a magnetic control device and navigation system for a capsule endoscope, which can actively change the magnitude of the magnetic force generated by the magnetic control device during inspection, so that the control of the capsule endoscope is no longer limited by the magnetic field control range. This is specifically achieved through the following technical solutions:

[0012] The magnetic control device of the capsule endoscope includes a permanent magnet capsule endoscope, a synchronous hybrid magnetic field generator, a five-degree-of-freedom motion mechanism, an electromagnetic coil power supply and a controller. The permanent magnet capsule endoscope is located in the patient's body. The synchronous hybrid magnetic field generator and the electromagnetic coil power supply are both configured on the five-degree-of-freedom motion mechanism. The controller can control the movement of the five-degree-of-freedom motion mechanism and the current provided by the electromagnetic coil power supply, so as to control the direction and intensity of the magnetic field generated by the synchronous hybrid magnetic field generator, thereby realizing the control of the position and posture of the permanent magnet capsule endoscope in the patient's body.

[0013] Furthermore, the permanent magnet capsule endoscope contains a permanent magnet, and has the same function as a general capsule endoscope, and can change its position and posture under the control of an extracorporeal magnetic field.

[0014] Furthermore, the synchronous hybrid magnetic field generator includes a permanent magnet and an electromagnetic coil. The electromagnetic coil and the permanent magnet move synchronously, and the axis of the electromagnetic coil and the direction of the magnetic pole of the permanent magnet always remain consistent. The permanent magnet can form a relatively strong basic magnetic field. The electromagnetic coil forms an electromagnetic field that is synchronized with the direction of the basic magnetic field and has an adjustable size by applying a variable current. The basic magnetic field and the electromagnetic field are combined to form a hybrid magnetic field whose intensity and direction can be adjusted arbitrarily.

[0015] Furthermore, the five-degree-of-freedom motion mechanism includes a posture control device, a position control device and a frame, the posture control device is installed on the position control device, and the position control device is installed on the frame.

[0016] Furthermore, the posture control device includes a first motor, a second motor, an outer frame and a base platform. The first motor is installed on the base platform and can drive the outer frame and the synchronous hybrid magnetic field generator to rotate around a first axis. The second motor is also installed on the base platform and can drive the synchronous hybrid magnetic field generator to rotate around a second axis.

[0017] Furthermore, the direction of the second axis is perpendicular to the first axis and can rotate around the first axis along with the outer frame, and the synchronous hybrid magnetic field generator is installed on the second axis.

[0018] Furthermore, the position control device includes a first moving part, a second moving part, a third moving part, a first platform and a second platform. The first moving part is installed on the frame and can drive the first platform to move along the Z axis parallel to the vertical direction. The second moving part is installed on the first platform and can drive the second platform to move along the X axis parallel to the horizontal direction. The third moving part is installed on the second platform and can drive the posture control device to move along the Y axis parallel to the horizontal direction.

[0019] Furthermore, the first moving part, the second moving part and the third moving part can respectively move the synchronous hybrid magnetic field generator in the Z direction, the X direction and the Y direction, thereby realizing the control of the position of the synchronous hybrid magnetic field generator.

[0020] Furthermore, the electromagnetic coil power supply includes a first conductive ring, a second conductive ring, a conductive connector, a first conductive ring brush and a second conductive ring brush. The first conductive ring is installed on the synchronous hybrid magnetic field generator and moves synchronously with the synchronous hybrid magnetic field generator. The second conductive ring is installed on the base platform of the posture control device. The conductive connector is installed on the outer frame of the posture control device. The first conductive ring brush and the second conductive ring brush at both ends are respectively connected to the first conductive ring and the second conductive ring. The current in the second conductive ring is controlled by the controller, so that the magnitude of the electromagnetic field magnetic force generated by the electromagnetic coil can be controlled in real time during the movement.

[0021] Furthermore, the controller is composed of a three-level structure of an industrial control computer, a multi-axis motion control card and a motor driver. The controller can enable the permanent magnet capsule endoscope to automatically inspect the body of a subject according to a pre-set navigation program.

[0022] Furthermore, the controller includes an industrial computer, a human-computer interaction device, a multi-axis motion control card, a motor driver, a D / A converter, and a current amplifier. The industrial computer is the core of the controller. Based on the operation command of the human-computer interaction device, the industrial computer sends operation planning instructions to the multi-axis motion control card. The multi-axis motion control card controls the motor driver to drive the motor to change the position and posture of the magnetic pole. The industrial computer is connected to the sensor via an IO port and controls the D / A converter through a feedback algorithm to change the output current of the current amplifier, thereby controlling the magnetic field strength.

[0023] Without electromagnetic coils for magnetic field amplification, the magnetic field strength of the permanent magnet itself is limited. When the magnetic induction intensity on the surface of the permanent magnet reaches 1.2T, the effective attraction distance for the capsule is only 20cm. Once the distance between the permanent magnet and the capsule in the body exceeds the effective distance, effective control cannot be achieved, resulting in limitations and safety hazards in its use. The synchronous hybrid magnetic field generator proposed in this invention uses electromagnetic coils to maintain synchronous movement with powerful permanent magnets. By applying a variable current to the electromagnetic coils, the basic magnetic field generated by the permanent magnet can be enhanced to any degree in any direction.

[0024] In the attitude control device proposed by the present invention, both the first and second motors are mounted on a base platform and do not rotate with changes in the attitude of the synchronous hybrid magnetic field generator, making power supply more convenient. The first motor drives the synchronous hybrid magnetic field generator to rotate about a first axis, while the second motor drives the synchronous hybrid magnetic field generator to rotate about a second axis. Because the magnetic field distribution of the synchronous hybrid magnetic field generator does not change as it rotates about its magnetic pole axis, the coordination of the first and second motors enables control of the magnetic field attitude.

[0025] The electromagnetic coil power supply proposed in the present invention has a sophisticated structure and can ensure that the electromagnetic coil remains powered even when its posture changes (rotates around the first axis and the second axis). The first conductive ring is mounted on the synchronous hybrid magnetic field generator, the conductive connector is mounted on the outer frame, and the second conductive ring is mounted on the base platform. The first conductive ring, the second conductive ring, and the ends of the conductive connector are maintained in contact by brushes. When rotating around the first axis: the first conductive ring and the conductive connector will rotate synchronously and maintain contact under the drive of the outer frame; at this time, the second conductive ring itself does not rotate, but because it is rotationally symmetrical with respect to the first axis, it can maintain contact with the rotating conductive connector. When rotating around the second axis: the conductive connector and the second conductive ring do not rotate, and the original contact state is maintained; because the first conductive ring is rotationally symmetrical with respect to the second axis, the first conductive ring can maintain contact with the conductive connector when rotating around the second axis.

[0026] The magnetic control device proposed by the present invention comprises two sets of electromagnetic coil power supplies, one set for the inflow of power supply current and the other set for the outflow of power supply current, and the two sets are symmetrically mounted on the attitude control device.

[0027] The magnetic field of the magnetic control device proposed in this invention is particularly strong, thus reducing the requirements for examination posture. Flexible examination methods are supported, including standing, lying, and sitting positions, depending on the subject's specific area of focus and personal habits. When using the magnetic control device proposed in this invention for examination, the subject can choose to stand facing the instrument, stand with their back to the instrument; lie flat, lie prone, lie with their left side facing away from the instrument, lie with their right side facing away from the instrument, lie with their left side facing the instrument, or lie with their right side facing the instrument; sit facing the instrument, sit with their back to the instrument, and so on.

[0028] In an embodiment of the present invention, the subject is sitting on a chair, and the magnetic control device and the navigation system can actively control the permanent magnet capsule endoscope in the subject's body from the back to perform a comprehensive examination of the stomach along a planned path.

[0029] In this embodiment of the present invention, the subject is required to swallow the permanent magnet capsule endoscope beforehand and sit upright in a chair in front of the magnetic control device. While sitting upright, the subject's upper body remains upright, keeping the stomach cavity relatively intact, which improves the efficiency and imaging quality of the permanent magnet capsule endoscope.

[0030] In the embodiment of the present invention, the subject sits on the chair during the entire examination, and the permanent magnet capsule endoscope in the subject's body is controlled from behind by the magnetic control device and the navigation system, which has better comfort and safety.

[0031] In an embodiment of the present invention, the magnetic control device can continuously change the position and direction of the magnetic pole through a five-degree-of-freedom motion mechanism, and freely adjust the intensity of the mixed magnetic field through the electromagnetic coil power supply and the synchronous mixed magnetic field generator. The permanent magnet capsule endoscope in the subject's body can still be effectively controlled from a long distance behind, so that the permanent magnet capsule endoscope can cruise and hover at a fixed point according to the preset trajectory of the program, thereby realizing a full-range and comprehensive inspection of the stomach wall.

[0032] Beneficial effects of the present invention

[0033] Compared with the prior art, the present invention has the beneficial effect of enabling the electromagnetic coil and permanent magnet to maintain synchronous motion and operation by designing a synchronous hybrid magnetic field generator, a five-degree-of-freedom motion mechanism, and an electromagnetic coil power supply. By utilizing the directionally synchronized and adjustable electromagnetic field generated by the electromagnetic coil in conjunction with the base magnetic field generated by the permanent magnet, the magnitude of the magnetic force generated by the magnetic control device can be controllably adjusted in any direction, thus overcoming the problem of a limited magnetic field control range and effectively controlling the movement of the capsule endoscope over a wider range. The magnetic control device of the present invention has an exceptionally strong magnetic field force, allowing for flexible control of the capsule without requiring close proximity to the subject, resulting in improved testing comfort and safety. The magnetic control device of the present invention reduces the requirements for examination posture and offers flexible examination methods, supporting standing, lying, and sitting postures, which can be selected based on the subject's actual situation. For example, different postures can be adopted for different areas requiring focused examination, and can also be freely selected based on the subject's habits. In addition, the posture control device of the five-degree-of-freedom motion mechanism of the present invention uses a mechanical structure design so that when the magnetic field direction changes, the motor does not rotate accordingly, making power supply more convenient. At the same time, the electromagnetic coil power supply of the present invention uses a clever structural design, conductive rings, conductive connectors and brushes to maintain and adjust the power supply current of the electromagnetic coil while the direction of the magnetic field is constantly changing, thereby controlling the magnitude of the magnetic force generated by the magnetic control device in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 : A schematic diagram of a preferred embodiment of the present invention in use;

[0035] Figure 2 : A schematic diagram of a position control device mounted on a frame according to a preferred embodiment of the present invention;

[0036] Figure 3: A schematic diagram of the assembly of a synchronous hybrid magnetic field generator, an electromagnetic coil power supply, and a posture control device according to a preferred embodiment of the present invention;

[0037] Description of the numbers in the figure:

[0038] 1 - Synchronous hybrid magnetic field generator;

[0039] 11 - spherical permanent magnet; 12 - spherical housing; 13 - flange connector; 14 - electromagnetic coil;

[0040] 2 – attitude control device;

[0041] 21 - first motor; 22 - second motor;

[0042] 23 - bevel gear set; 24 - synchronous pulley;

[0043] 25 - outer frame; 26 - base platform;

[0044] 31, 32 - electromagnetic coil power supply;

[0045] 311, 321 - first conductive ring; 312, 322 - second conductive ring; 313, 323 - conductive connector;

[0046] 314, 324 - first conductive ring brush; 315, 325 - second conductive ring brush;

[0047] 4 - Position control device;

[0048] 41 - first moving part; 42 - first platform; 43 - second moving part;

[0049] 44 - second platform; 45 - third moving part;

[0050] 5 - frame; 6 - seat;

[0051] 7——first axis; 8——second axis. DETAILED DESCRIPTION

[0052] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] An embodiment of the present invention includes a permanent magnet capsule endoscope, a synchronous hybrid magnetic field generator, a five-degree-of-freedom motion mechanism, an electromagnetic coil power supply, and a controller.

[0055] Permanent magnet capsule endoscope: It is a capsule endoscope product that contains a permanent magnet inside. The movement of the capsule endoscope can be controlled by the force exerted by the external magnetic field on the permanent magnet inside the capsule endoscope.

[0056] like Figure 1 and Figure 3 As shown, the synchronous hybrid magnetic field generator 1 consists of a spherical permanent magnet 11 made of neodymium iron boron material, a spherical shell housing 12, a flange connector 13, and an electromagnetic coil 14. The spherical permanent magnet 11 has a diameter of 120 mm and is capable of generating a relatively strong basic magnetic field. In actual use, since large spherical permanent magnets are difficult to machine, multiple layers of round, pancake-shaped permanent magnets can also be used instead. The spherical shell housing 12 is used to house and control the spherical permanent magnet and is divided into two parts. A circular hole is reserved on the central circumferential flange for connecting the two parts using nuts and bolts. Flange connection holes are also reserved on both end faces of the spherical shell housing 12. The flange connector 13 is connected to both end faces of the spherical shell housing 12 and is fixed to the rotating shaft on the second axis 8. When the rotating shaft rotates about the second axis 8, the flange connector 13 drives the spherical shell housing 12 to rotate, which in turn drives the spherical permanent magnet 11 to rotate together, changing the direction of the magnetic poles. The electromagnetic coil 14 is mounted on the rotating shaft, and the magnetic pole direction of the permanent magnet 11 is aligned with the axis of the electromagnetic coil 14. This ensures that the magnetic field of the electromagnetic coil 14 maintains the same direction as the magnetic field of the permanent magnet 11 during rotation. To enhance the effect of the electromagnetic field, a set of electromagnetic coils 14 can be placed at each end of the magnetic pole of the permanent magnet 11.

[0057] like Figure 1 As shown, the five-degree-of-freedom motion mechanism includes a posture control device 2, a position control device 4 and a frame 5.

[0058] like Figure 1 and Figure 3As shown, the attitude control device 2 comprises a first motor 21, a second motor 22, a bevel gear set 23, a synchronous pulley 24, an outer frame 25, and a base platform 26. The first motor 21 is mounted on the base platform 26 and, after being connected to the outer frame 25 via a coupling and a flange, can drive the outer frame 25 to rotate about the first axis 7. When the outer frame 25 rotates, the rotating shaft mounted on the outer frame 25 along the second axis 8 also rotates along the first axis with the outer frame 25. Therefore, when the first motor 21 rotates, the synchronous hybrid magnetic field generator 1 mounted along the second axis will rotate about the first axis. The second motor 22, through the bevel gear set 23 and the synchronous pulley 24, drives the rotating shaft along the second axis to rotate about the second axis. Therefore, when the second motor 22 rotates, the synchronous hybrid magnetic field generator 1 mounted along the second axis will rotate about the second axis. The bevel gear set 23 includes a pair of bevel gear pairs: the driving bevel gear is connected to the second motor via a connecting shaft and a coupling, and the outer frame 25 can rotate freely around the connecting shaft; the driven bevel gear is connected to one end of the transmission shaft, and the other end of the transmission shaft is mounted on the outer frame 25 via a bearing and a bearing seat. The synchronous pulley 24 includes a driving pulley, a driven pulley, and a synchronous belt. The driving pulley is connected to the transmission shaft and is driven by the transmission shaft. The driven pulley is connected to a rotating shaft along the second axis and can drive the rotating shaft to rotate about the second axis, thereby driving the synchronous hybrid magnetic field generator 1 to rotate about the second axis. The two ends of the rotating shaft along the second axis are mounted on the outer frame 25 via bearings and a bearing seat.

[0059] like Figure 1 and Figure 2 As shown, the position control device 4 is composed of a first moving part 41 , a first platform 42 , a second moving part 43 , a second platform 44 and a third moving part 45 .

[0060] The first moving unit 41, which enables the synchronous hybrid magnetic field generator to move in the Z direction, includes a motor, a coupling, a ball screw, a linear guide, a slider, a pallet connector, and a first platform pallet. The motor and ball screw are connected via a coupling and mounted on the frame 5 along the Z direction. The linear guide is mounted on the frame 5 along the Z direction, and the ball screw drives the first platform pallet to reciprocate in the Z direction along the linear guide. The first platform pallet is connected to the ball screw via a pallet connector, and the first platform pallet moves on the linear guide via the slider.

[0061] The first platform 42 is mounted on the first platform support plate and can reciprocate along the Z direction along with the first platform support plate.

[0062] The second moving unit 43 enables the synchronous hybrid magnetic field generator to move in the X-direction and includes a motor, a coupling, a ball screw, a linear guide, a slider, and a second platform connector. The motor and ball screw are connected via a coupling and mounted on the first platform 42 along the X-direction. The linear guide is mounted on the first platform 42 along the X-direction. The ball screw drives the second platform 44 to reciprocate linearly in the X-direction along the linear guide. The second platform 44 is connected to the ball screw via the second platform connector and moves on the linear guide via the slider.

[0063] The second platform 44 is mounted on a slider that moves along the X direction and can reciprocate along the X direction along with the second platform connector.

[0064] The third moving unit 45 enables the synchronous hybrid magnetic field generator to move in the Y direction and includes a motor, a coupling, a ball screw, a linear guide, a slider, and a base platform connector. The motor and ball screw are connected via a coupling and mounted on the second platform 44 along the Y direction. The linear guide is mounted on the second platform 44 along the Y direction. The ball screw drives the base platform 26 of the posture control device 2 to reciprocate linearly in the Y direction along the linear guide. The base platform 26 is connected to the ball screw via the base platform connector, and the slider moves the base platform 26 on the linear guide.

[0065] The frame 5 is the framework of the entire magnetron device, used to support and install the five-degree-of-freedom motion mechanism. The entire frame can be welded with aluminum alloy pipes, and aluminum plates are welded at the welding points to ensure the rigidity and strength of the structure.

[0066] In the embodiment of the present invention, two sets of first moving parts 41 are symmetrically installed on both sides of the frame 5, thereby avoiding bias in driving force.

[0067] In the embodiment of the present invention, when the synchronous hybrid magnetic field generator 1 is installed on the rotating shaft along the second axis, it should be kept as centrally symmetrical as possible with the first axis. When the synchronous hybrid magnetic field generator 1 rotates around the first axis, only the posture changes, and the center position of the spherical permanent magnet 11 should remain unchanged.

[0068] In this embodiment of the present invention, when only the first motor 21 is operating and controlling the synchronous hybrid magnetic field generator 1 to rotate about the first axis, the driven bevel gear of the bevel gear set 23 also rotates about the first axis, while the driving bevel gear does not rotate. This causes the driven bevel gear to drive the transmission shaft to rotate, which in turn drives the synchronous hybrid magnetic field generator 1 to rotate about the second axis. To ensure that the synchronous hybrid magnetic field generator 1 rotates only about the first axis, the second motor 22 is required to work in conjunction and rotate at a matching speed.

[0069] In the embodiment of the present invention, the rotation of the synchronous hybrid magnetic field generator 1 around the first axis is not affected by the control of the second motor 22. By properly configuring the speeds of the first motor 21 and the second motor 22, the synchronous hybrid magnetic field generator 1 can be rotated around the first axis and the second axis simultaneously, flexibly adjusting the magnetic pole posture.

[0070] In the embodiment of the present invention, sufficient hollow areas should be left between the base platform 26 of the posture control device 2 and the first platform 42 and the second platform 44 of the position control device 4 to prevent the outer frame 25 from colliding during movement and rotation.

[0071] like Figure 1 and Figure 3 As shown, the electromagnetic coil power supply 31, 32 ensures constant power supply to the electromagnetic coil 14 even when its position changes (rotates around the first axis 7 and the second axis 8). The electromagnetic coil power supply 31, 32 consists of first conductive rings 311, 321, second conductive rings 312, 322, conductive connectors 313, 323, and first conductive ring brushes 314, 324 and second conductive ring brushes 315, 325. The first conductive rings 311, 321 are mounted on the synchronous hybrid magnetic field generator 1, the conductive connectors 313, 323 are mounted on the outer frame 25, and the second conductive rings 312, 322 are mounted on the base platform 26. The first conductive rings 311, 321, the second conductive rings 312, 322, and the conductive connectors 313, 323 maintain contact at both ends via the first conductive ring brushes 314, 324, and the second conductive ring brushes 315, 325, respectively. During rotation about the first axis 7, the first conductive rings 311, 321 and the conductive connectors 313, 323, driven by the outer frame 25, rotate synchronously and maintain contact via the first conductive ring brushes 314, 324. Meanwhile, the second conductive rings 312, 322 do not rotate themselves, but due to their rotational symmetry with respect to the first axis 7, they maintain contact with the rotating conductive connectors 313, 323 via the second conductive ring brushes 315, 325. During rotation about the second axis 8, the conductive connectors 313, 323 and the second conductive rings 312, 322 do not rotate, maintaining their original contact state. Due to their rotational symmetry with respect to the second axis 8, the first conductive rings 311, 321 maintain contact with the conductive connector 33 via the first conductive ring brushes 314, 324 during rotation about the second axis 8.

[0072] In the embodiment of the present invention, two sets of electromagnetic coil power supplies 31 and 32 are included, one set is used for the inflow of power supply current, and the other set is used for the outflow of power supply current, and are installed on the posture control device 2 in a point-symmetrical manner with respect to the center position of the spherical permanent magnet 11.

[0073] The controller consists of a three-level structure consisting of an industrial control computer, a multi-axis motion control card and a motor driver, including an industrial control computer, a human-computer interaction device, a multi-axis motion control card, a motor driver, a D / A converter and a current amplifier. The controller can enable a permanent magnet capsule endoscope to automatically inspect the body of a subject according to a pre-set navigation program.

[0074] The industrial computer, the core of the controller, is installed on the operator's workbench. Based on the operating commands from the human-computer interaction device, the computer sends operation planning instructions to the multi-axis motion control card. The multi-axis motion control card then controls the motor driver to drive the motor to change the position and posture of the magnetic poles. The computer is connected to the sensor via an I / O port and uses a feedback algorithm to control the D / A converter to change the output current of the current amplifier, thereby controlling the magnetic field strength.

[0075] The human-computer interaction device includes a display screen, a keyboard, a mouse, a joystick, etc., which are installed on the operator's workbench. The operator can input operation instructions on the human-computer interaction device and obtain information.

[0076] The multi-axis motion control card is installed in the slot of the electric control cabinet. After receiving the operation planning instruction of the human-computer interaction device, it controls the motor driver to drive the motor to change the position and posture of the magnetic pole as required according to the preset control program.

[0077] The motor driver is a driver that matches the motor and is installed in the electric control cabinet. After receiving the operation instructions of the multi-axis motion control card, it drives the motor to move according to the preset control program.

[0078] In the embodiment of the present invention, the motor can be an AC servo motor, and the motor driver can be an AC servo driver. Considering that it may be necessary to overcome a large resistance when lifting a load, a speed reducer can be installed at the output end of the AC servo motor.

[0079] The D / A converter and current amplifier are installed in the electric control cabinet, which can change the current size in the electromagnetic coil power supply and thus control the magnetic field strength.

[0080] In the embodiment of the present invention, the electric control cabinet can be placed at the bottom of the rack 5 and communicate with the industrial computer and human-computer interaction equipment outside the magnetic control device through signal cables.

[0081] like Figure 2As shown, in an embodiment of the present invention, the subject is sitting on the chair 6, and the magnetic control device and the navigation system can actively control the permanent magnet capsule endoscope in the subject's body from the back, and perform a comprehensive examination of the stomach along the planned path. The subject needs to swallow the permanent magnet capsule endoscope in advance and sit on the chair 6 in front of the magnetic control device. When the subject is sitting upright, his upper body remains upright, and the stomach cavity will remain in a relatively intact state, which can improve the shooting efficiency and imaging effect of the permanent magnet capsule endoscope. The subject sits on the chair 6 throughout the examination, and the permanent magnet capsule endoscope in the subject's body is controlled from the back by the magnetic control device and the navigation system, which has better comfort and safety.

Claims

1. A magnetic control device for a capsule endoscope, comprising a permanent magnet capsule endoscope and a controller, characterized in that: The invention also includes a synchronous hybrid magnetic field generator (1), a five-degree-of-freedom motion mechanism, and an electromagnetic coil power supply. The permanent magnet capsule endoscope is located in the patient's body. The synchronous hybrid magnetic field generator (1) and the electromagnetic coil power supply (31, 32) are both configured on the five-degree-of-freedom motion mechanism. The controller controls the movement of the five-degree-of-freedom motion mechanism and the current of the electromagnetic coil power supply (31, 32) to control the direction and intensity of the magnetic field generated by the synchronous hybrid magnetic field generator (1), thereby achieving control of the position and posture of the permanent magnet capsule endoscope in the patient's body. The five-degree-of-freedom motion mechanism is mounted on a frame (5), and comprises a posture control device (2) and a position control device (4). The posture control device (2) is mounted above the position control device (4), and the position control device (4) is fixed on the frame (5), wherein: The attitude control device (2) comprises a first motor (21), a second motor (22), a bevel gear set (23), a synchronous pulley (24), an outer frame (25) and a base platform (26), wherein the first motor (21) is mounted on the base platform (26) and can drive the outer frame (25) to rotate around a first axis (7) coaxial with the first motor (21); the synchronous hybrid magnetic field generator (1) is mounted on the outer frame (25), and the second motor (22) is also mounted on the base platform (26). When the second motor (22) rotates, the outer frame (25) is rotated by The bevel gear set (23) and the synchronous pulley (24) drive the synchronous hybrid magnetic field generator (1) to rotate around a second axis (8) perpendicular to the first axis, and the second axis (8) rotates around the first axis (7) following the outer frame (25). The rotation of the synchronous hybrid magnetic field generator (1) around the first axis (7) is not affected by the control of the second motor (22). When the synchronous hybrid magnetic field generator (1) rotates around its magnetic pole axis, the magnetic field distribution does not change, and the control of the magnetic field attitude is achieved through the cooperation of the first motor (21) and the second motor (22).

2. The magnetic control device of the capsule endoscope according to claim 1, characterized in that: The bevel gear set (23) includes a pair of bevel gear pairs: the driving bevel gear is connected to the second motor (22) through a connecting shaft and a coupling, and the outer frame (25) can rotate freely around the connecting shaft; the driven bevel gear is connected to one end of the transmission shaft, and the other end of the transmission shaft is mounted on the outer frame (25) through a bearing and a bearing seat.

3. The magnetic control device of the capsule endoscope according to claim 1, characterized in that: The synchronous pulley (24) includes a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected to the transmission shaft and is driven by the transmission shaft; the driven wheel is connected to the rotating shaft along the second axis (8), and can drive the rotating shaft to rotate around the second axis (8), thereby driving the synchronous hybrid magnetic field generator (1) to rotate around the second axis (8); the end of the rotating shaft along the second axis (8) is mounted on the outer frame (25) through a bearing and a bearing seat.

4. The magnetic control device of the capsule endoscope according to claim 1, characterized in that: The synchronous hybrid magnetic field generator (1) is installed at the position of the second axis (8), maintains central symmetry with the first axis (7), and rotates around the first axis (7) with the outer frame (25). The synchronous hybrid magnetic field generator (1) includes a permanent magnet (11) and an electromagnetic coil (14), wherein the electromagnetic coil (14) is fixed on the first axis (7), and the permanent magnet (11) is fixed on the second axis (8) perpendicular to the first axis. The permanent magnet (11) and the electromagnetic coil (14) move synchronously, and a basic magnetic field is formed by the permanent magnet (11). The direction of the electromagnetic coil (14) is consistent with that of the basic magnetic field. The electromagnetic coil (14) forms an electromagnetic field that is synchronized with the direction of the basic magnetic field and has an adjustable size by applying a variable current, thereby forming a hybrid magnetic field with an arbitrarily adjustable intensity. The direction of the electromagnetic field changes along with the direction of the basic magnetic field, that is, the direction of the superimposed hybrid magnetic field can be adjusted arbitrarily.

5. The magnetic control device of the capsule endoscope according to claim 4, characterized in that: The permanent magnet (11) is a spherical permanent magnet made of neodymium iron boron material, and is formed by stacking multiple layers of permanent magnet discs to form a spherical permanent magnet with a diameter of 120 mm. The spherical shell (12) is placed in a spherical shell (12). The spherical shell (12) is divided into two shells, and a connection hole is reserved on the middle circumferential flange. The two shells are connected to form a spherical shell by a connector. The end faces of the spherical shell (12) are connected to the flange connector (13); the flange connector (13) is tightly fixed to the rotating shaft on the second axis (8). When the rotating shaft rotates around the second axis (8), the flange connector (13) drives the spherical shell (12) to rotate, and then drives the permanent magnet (11) to rotate together, so that when the synchronous hybrid magnetic field generator (1) rotates around the first axis (7), only the posture changes, and the center position of the spherical permanent magnet (11) should remain unchanged; The electromagnetic coil (14) is mounted on the rotating shaft, and the magnetic pole direction of the permanent magnet (11) and the axis of the electromagnetic coil (14) are collinear, thereby ensuring that the magnetic field of the electromagnetic coil (14) and the magnetic field of the permanent magnet (11) maintain the same direction during rotation, thereby enhancing the strength of the mixed magnetic field.

6. The magnetic control device of the capsule endoscope according to claim 5, characterized in that: A set of electromagnetic coils (14) is respectively installed at both ends of the magnetic pole of the permanent magnet (11).

7. The magnetic control device of a capsule endoscope according to claim 1, characterized in that: The position control device (4) comprises a first moving part (41), a second moving part (43), a third moving part (45), a first platform (42) and a second platform (44), wherein the first moving part (41) is mounted on the frame (5) and can drive the first platform (42) to move along the Z axis; the second moving part (43) is mounted on the first platform (42) and can drive the second platform (44) to move along the X axis; the third moving part (45) is mounted on the second platform (44) and can drive the attitude control device (2) to move along the Y axis, and a hollow area should be left between the base platform (26) of the attitude control device (2) and the first platform (42) and the second platform (44) to avoid collision of the outer frame (25) during movement and rotation, thereby realizing control of the position of the synchronous hybrid magnetic field generator (1).

8. The magnetic control device of the capsule endoscope according to claim 7, characterized in that: Two sets of first moving parts (41) are symmetrically installed on both sides of the frame (5), thereby avoiding bias of the driving force.

9. The magnetic control device of a capsule endoscope according to claim 1, characterized in that: The electromagnetic coil power supply (31, 32) can keep the electromagnetic coil (14) always powered when the posture changes, and comprises a first conductive ring (311, 321), a second conductive ring (312, 322), a conductive connector (313, 323), a first conductive ring brush (314, 324) and a second conductive ring brush (315, 325), wherein the first conductive ring (311, 321) is mounted on the synchronous hybrid magnetic field generator (1) and moves synchronously with the synchronous hybrid magnetic field generator (1); the second conductive ring (312, 322) is mounted on the synchronous hybrid magnetic field generator (1) and moves synchronously with the synchronous hybrid magnetic field generator (1); The conductive connector (313, 323) is mounted on the outer frame (25) of the posture control device (2); the first conductive ring brush (314, 324) and the second conductive ring brush (315, 325) at both ends are respectively electrically connected to the first conductive ring (311, 321) and the second conductive ring (312, 322); the current in the second conductive ring (312, 322) is controlled by a controller, so as to achieve real-time control of the intensity of the electromagnetic field generated by the electromagnetic coil (14) during movement.

10. The magnetic control device of the capsule endoscope according to claim 9, characterized in that: The two sets of electromagnetic coil power supplies (31, 32), one set for the inflow of power supply current and the other set for the outflow of power supply current, are mounted on the attitude control device (2) in a point-symmetrical manner with respect to the center position of the spherical permanent magnet (11).

11. A navigation system using the magnetic control device of a capsule endoscope according to any one of claims 1 to 10, wherein the controller is controlled by a CPU, characterized in that: The controller consists of a three-level structure consisting of an industrial control computer, a multi-axis motion control card and a motor driver. A pre-set navigation program controls the movement of the permanent magnet capsule endoscope.

12. The navigation system according to claim 11, characterized in that The controller includes an industrial computer, a human-computer interaction device, a multi-axis motion control card, a motor driver, a D / A converter, and a current amplifier. The industrial computer sends an operation planning instruction to the multi-axis motion control card according to the operation command of the human-computer interaction device, and the multi-axis motion control card controls the motor driver to drive the motor to change the position and posture of the magnetic pole. The industrial computer is connected to the sensor through the IO port, and controls the D / A converter through a feedback algorithm to change the output current of the current amplifier, thereby controlling the current size in the electromagnetic coil power supply (3) and further controlling the magnetic field strength.

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