Capsule endoscope control system and recording and playback method thereof

Abstract

The application discloses a capsule endoscope control system and a recording and playing method thereof. The system comprises a magnetic movement component, a driving unit and an industrial computer. The position and posture change of the magnetic movement component generates a magnetic field change, so that the capsule endoscope moves along with the magnetic field change. The driving unit is connected with the magnetic movement component to control the position and posture change of the magnetic movement component. The industrial computer is connected with the magnetic movement component and the driving unit. During the examination by the capsule endoscope, the industrial computer acquires the position and posture of the magnetic movement component in real time, and stores the position and posture change over time as parameter data. Thus, through recording and playing, the whole examination process of the magnetic capsule endoscope can be traced back, the doctor is facilitated to diagnose the illness of the examinee, the training efficiency is effectively improved, and in addition, a model can be established according to the recorded data parameters to automatically examine examinees with similar body shapes, and the work efficiency is improved.

Description

Capsule endoscope control system and its recording and playback method Technical Field

[0001] This invention relates to the field of intelligent program operation, and more specifically to a capsule endoscope control system and its recording and playback method. Background Technology

[0002] Gastrointestinal mucosal diseases and the resulting gastrointestinal cancers are among the biggest killers of public health. According to statistics from the American Cancer Society, early detection and diagnosis of gastrointestinal mucosal tumors are key factors in reducing the mortality rate of gastrointestinal cancers (especially colorectal cancer). If colorectal cancer is detected in its early stages and treated, the five-year survival rate can usually exceed 90%; if it is allowed to progress to the middle or late stages, the five-year survival rate drops to less than 10%.

[0003] Currently, a low-power, precisely positioned capsule endoscope has emerged in clinical practice, providing a miniaturized, painless, and convenient method for examining the digestive tract. The patient swallows the capsule with water, similar to taking medication. The capsule then moves with the gastrointestinal muscles, recording pathological images of the digestive tract through a built-in miniature camera, which are then displayed to the doctor to provide a basis for diagnosis.

[0004] With the development of capsule endoscopy technology, capsule endoscopes have gradually evolved from passive capsule endoscopes to actively and precisely controlled capsule endoscopes. Active and precise control of the capsule's movement is crucial during examinations of the human digestive tract. Magnetic control is an excellent control method, and in recent years, magnetically controlled capsule technology has experienced rapid development.

[0005] Magnetically controlled capsule endoscopy technology essentially comprises two main parts: a capsule endoscope equipped with magnets and a control device that controls the movement of the capsule endoscope. The control device is currently broadly divided into two types: handheld devices and mechanical devices. Handheld devices are more susceptible to human error in controlling the capsule's movement, resulting in lower control precision; while mechanical devices offer more stable control, higher motion control precision, and a wider range of control directions and angles, enabling more comprehensive endoscopic examinations.

[0006] Mechanical control equipment generally requires professional doctors or trained personnel to operate. Operation training requires a lot of time and effort, which is costly. In addition, the operator's operation record does not have a detailed process record, resulting in low training efficiency. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a capsule endoscope control system and its recording and playback method, enabling the entire magnetically controlled capsule endoscope examination process to be traced back, effectively improving training efficiency.

[0008] On one hand, the present invention provides a capsule endoscope control system, wherein:

[0009] A magnetic moving component, the position and orientation of which change generate a change in the magnetic field, causing the capsule endoscope to move in accordance with the change in the magnetic field;

[0010] A drive unit is connected to the magnetic motion component to control the position and attitude changes of the magnetic motion component;

[0011] An industrial control computer connects the magnetic motion component and the drive unit.

[0012] During the examination performed by the capsule endoscope, the industrial control computer acquires the position and orientation of the magnetic moving parts in real time, and stores the changes in the position and orientation over time as parameter data.

[0013] Optionally, the industrial control computer reads the parameter data during the use of the capsule endoscope and controls the position and attitude changes of the magnetic moving parts according to the parameter data.

[0014] Optionally, the parameter data is stored as a data file or database record for recording time, position parameters, and attitude parameters.

[0015] Optionally, the drive unit includes multiple drivers, which receive control parameters and motion commands from the industrial control computer to control the position and attitude changes of the magnetic motion component.

[0016] Optionally, the industrial control computer includes:

[0017] The control module sets the magnetic field parameters of the magnetic moving parts;

[0018] The calibration module sets the position and orientation of the origin of the magnetic moving part or its position relative to the origin of the reference coordinates.

[0019] The position module reads the real-time attitude data of the magnetic moving component;

[0020] The storage module writes the magnetic field parameters, position parameters, attitude parameters, and start and end times of the movement of the magnetic moving part into a storage file using a certain sequence encoding.

[0021] The file management module reads and edits the stored files.

[0022] On the other hand, the present invention provides a recording method for a capsule endoscope control system, comprising:

[0023] Start recording and record the start time;

[0024] Save the initial position and initial attitude information of the magnetic moving parts;

[0025] Collect control parameters from the industrial control computer;

[0026] Real-time acquisition of the state parameters of the magnetic moving component;

[0027] The recording ends and the recorded data is written to storage in a certain sequence data format, the recorded data including the control parameters and the status parameters.

[0028] Optionally, the step of acquiring the control parameters of the industrial control computer includes:

[0029] The system collects operational information from the industrial control computer and collects magnetic field change events from the magnetic moving parts.

[0030] Optionally, the magnetic field change events of the magnetic moving component are collected, including:

[0031] Monitor the magnetic field change events of the magnetic moving component, and when the event is triggered, obtain and save the state parameters of the magnetic moving component.

[0032] Optionally, the step of saving the initial position information and initial attitude information of the magnetic moving part includes:

[0033] Based on the origin of the magnetic moving component's coordinate system or a relative reference origin, the position and attitude information of the magnetic moving component are read and saved.

[0034] The initial settings information of the industrial control computer is read and saved.

[0035] Optionally, the step of acquiring the state parameters of the magnetic moving component in real time includes:

[0036] The control parameters and the status parameters are converted into single-operation program blocks and saved.

[0037] Optionally, the step of saving as a single-operation program block includes:

[0038] Each time a record is generated, the attitude and position information of the corresponding magnetic moving parts and the initial settings information of the industrial control computer are saved.

[0039] The attitude and position information of the magnetic moving component, the initial setting information of the industrial control computer, and the operation information are recorded in the same operation program block and saved as a single operation program block.

[0040] The single operation block also stores the relative start time and relative end time of a single operation.

[0041] Optionally, the state parameters of the magnetic motion component include at least one of the following: triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, position parameters, or combinations thereof, during a single operation from the relative start time to the relative end time.

[0042] On the other hand, the present invention provides a playback method for a capsule endoscope control system, comprising:

[0043] Deserialize the data recorded during storage based on the write sequence of the data recorded at storage, and read the data recorded in storage;

[0044] Load the initial position and initial posture information of the magnetic moving parts from the recorded data;

[0045] Initialize the position and attitude information of the magnetic moving component;

[0046] The operation information of the industrial control computer can be reconstructed based on the recorded data, which includes the control parameters of the industrial control computer and the state parameters of the magnetic moving parts.

[0047] Based on the operation information of the industrial control computer, perform the corresponding operation at the target location of the industrial control computer.

[0048] Optionally, the recorded data includes multiple single-operation program blocks ordered in time sequence, and the step of loading the starting position information and starting attitude information of the magnetic moving component from the recorded data includes:

[0049] Analyze the initial position and initial posture information of the magnetic motion component in a single operation program block;

[0050] Obtain the initial settings information of the industrial control computer in the single operation program block, as well as the state parameters of the magnetic motion component during the operation.

[0051] Optionally, the step of performing a corresponding operation at the target location of the industrial control computer based on the operation information of the industrial control computer includes:

[0052] The operation information of the industrial control computer is parsed and obtained sequentially.

[0053] Based on the initial settings of the industrial control computer and the state parameters of the magnetic moving component, the magnetic field change events of the magnetic moving component are executed in the order of the operation information of the industrial control computer.

[0054] Optionally, it also includes: determining whether the operation information has been completed normally;

[0055] If so, then end the program;

[0056] If not, prompt the user to re-record.

[0057] Optionally, the step of determining whether the operation information has been completed normally further includes:

[0058] Check whether the initial position information and initial posture information of the magnetic moving component, as well as the operation information of the industrial control computer, have been loaded.

[0059] Check if the operation sequence has been completed.

[0060] Optionally, the step of restoring the industrial control computer's operation information based on the recorded data includes:

[0061] Analyze the operation sequence of the industrial control computer corresponding to the changes in the state parameters of the magnetic moving component;

[0062] Adjust the magnetic moving parts to the corresponding states according to the operating sequence.

[0063] Optionally, the state parameters of the magnetic motion component include at least one of the following: triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, position parameters, or combinations thereof, during a single operation from the relative start time to the relative end time.

[0064] The beneficial effects of this invention are as follows: This invention provides a capsule endoscopy control system and its recording and playback method. The capsule endoscopy control system improves the operability of the capsule endoscopy examination process. By recording and playing back the complete capsule endoscopy examination process of the examinee, the entire magnetically controlled capsule endoscopy examination process becomes traceable, which is beneficial for doctors to diagnose the examinee's condition and can effectively improve training efficiency. Furthermore, based on the capsule endoscopy control system and recording and playback method provided by this invention, a model can be established based on the recorded data parameters to automatically examine examinees of similar body shapes, improving work efficiency. Attached Figure Description

[0065] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0066] Figure 1 shows a schematic diagram of the capsule endoscope control system according to an embodiment of the present invention;

[0067] Figure 2 shows a flowchart of the recording method of the capsule endoscope control system according to an embodiment of the present invention;

[0068] Figure 3 shows a flowchart of the sub-steps of step S230 in Figure 2;

[0069] Figure 4 shows a flowchart of the sub-steps of step S240 in Figure 2;

[0070] Figure 5 shows a flowchart of the playback method of the capsule endoscope control system according to an embodiment of the present invention;

[0071] Figure 6 shows a flowchart of the sub-steps of step S320 in Figure 5;

[0072] Figure 7 shows a flowchart of the sub-steps of step S340 in Figure 5;

[0073] Figure 8 shows a flowchart of the sub-steps of step S350 in Figure 5. Detailed Implementation

[0074] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in various forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0076] The present invention will now be described in detail with reference to the accompanying drawings.

[0077] Figure 1 shows a schematic diagram of a capsule endoscope control system according to an embodiment of the present invention. One embodiment of the present invention provides a capsule endoscope control system 100, as shown in Figure 1, which includes: a magnetic motion component 30, a drive unit 20, and an industrial control computer 10. The position and orientation changes of the magnetic motion component 30 generate magnetic field changes, causing the capsule endoscope 40 to move with the magnetic field changes. The drive unit 20 is connected to the magnetic motion component 30 to control the position, orientation changes, and magnetic field strength changes of the magnetic motion component 30. The industrial control computer 10 is connected to the magnetic motion component 30 and the drive unit 20. During an examination using the capsule endoscope 40, the industrial control computer 10 acquires the position and orientation of the magnetic motion component 30 in real time and stores the changes in position and orientation over time as parameter data. The industrial control computer 10 transmits control parameters and motion commands to the drive unit 20. The drive unit 20 controls the movement of the magnetic motion component 30 and monitors its state parameters. The capsule endoscope 40 moves with the magnetic field changes of the magnetic motion component 30 and transmits its state parameters to the industrial control computer 10 for processing and storage. The state parameters of the magnetic motion component 30 include, for example, one or more of the acceleration parameters, angular velocity parameters, magnetic field parameters, and position parameters of the magnetic motion component 30, or a combination thereof, wherein the combination includes at least two of the acceleration parameters, angular velocity parameters, magnetic field parameters, and position parameters.

[0078] The process by which the industrial control computer 10 generates parameter data during the inspection using the capsule endoscope 40 is the recording process of the capsule endoscope control system 100. This recording process can store the position and orientation of the magnetic moving part 30 as parameter data.

[0079] When controlling the capsule endoscope 40 subsequently, parameter data can be read and the playback process of the capsule endoscope control system 100 can be completed based on the parameter data. The playback process specifically includes: reading parameter data, restoring the operation information of the industrial control computer 10 based on the parameter data; and performing corresponding operations at the target position of the industrial control computer 10 based on the operation information of the industrial control computer 10.

[0080] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0081] In some embodiments, the drive unit 20 includes, for example, a plurality of drivers 20a, which receive the aforementioned control parameters and motion commands to control the position and orientation changes of the magnetic motion component 30. To achieve spatial anisotropic and rotational motion of the capsule endoscope 40, in one specific embodiment, the control parameters and motion commands include, for example, commands to control the spatial movement and rotational motion of the magnetic motion component 30.

[0082] In this embodiment, to facilitate the description of the position and attitude changes of the magnetic moving component 30, a three-dimensional spatial reference coordinate system is introduced. For example, the center of the magnetic moving component 30 at the initial moment is taken as the origin of the coordinate system, and orthogonally extended X-axis and Y-axis directions, as well as a Z-axis direction perpendicular to both the X-axis and Y-axis directions, are drawn from the horizontal plane where the origin of the coordinate system is located. Alternatively, the center of the magnetic moving component 30 when it is about to start moving in a specific operation is taken as the origin of the reference coordinate system, and the attitude information of the magnetic moving component 30 when it is about to start moving is taken as the initial attitude information. Furthermore, the spatial movement described above and below refers to the linear movement of the magnetic moving component 30 along at least one of the X-axis, Y-axis, and Z-axis with its center as the origin of the coordinate system, and the rotational movement around the space refers to the rotation of the magnetic moving component 30 around at least one of the X-axis, Y-axis, or Z-axis with its center as the origin of the coordinate system. Of course, it should be noted that the establishment of the above reference coordinate system is intended to illustrate one way of recording the position movement trajectory of the magnetic moving component 30. In other alternative embodiments, those skilled in the art can describe other implementation methods, which are not limited here.

[0083] In another specific embodiment, the magnetic motion component 30 includes, for example, an electromagnet capable of movement and rotation in the aforementioned space. By setting control parameters through the industrial control computer 10, the magnitude of the energizing current in the connected driver 20a is changed, thereby altering the magnetic field parameters of the magnetic motion component 30 (these parameters include, for example, the magnitude and direction of the magnetic field, hereinafter the same). Subsequently, by controlling the magnetic field parameters, the capsule endoscope 40 is controlled to move along any of the X, Y, and Z directions in space and rotate around any of the three axes of space. It should be noted that the movement of the capsule endoscope 40 should minimize the force exerted on the digestive tract wall to reduce patient discomfort. Through linear and rotational movements, or a combination thereof, complete image information is obtained, facilitating accurate diagnosis by the physician.

[0084] Furthermore, the industrial control computer 10 includes, for example, a control module 10a, a calibration module 10b, a position module 10c, a storage module 10d, and a file management module 10e. Specifically, the control module 10a sets the magnetic field parameters of the magnetic moving part 30; the calibration module 10b sets the position and attitude of the origin or relative to the reference origin of the magnetic moving part 30; the position module 10c reads the real-time attitude data of the magnetic moving part 30; the storage module 10d writes the magnetic field parameters, position parameters, attitude parameters, and the start and end times of movement of the magnetic moving part 30 into a storage file using a specific sequence encoding; and the file management module 10e reads and edits the aforementioned storage file.

[0085] In another embodiment, the industrial control computer 10 reads the parameter data during the use of the capsule endoscope 40 and controls the position and attitude changes of the magnetic motion component 30 based on the parameter data. In this embodiment, the parameter data is stored as a data file or database record for recording time, position parameters, and attitude parameters.

[0086] Furthermore, the capsule endoscope control system 100 also includes a display unit (not shown), which is connected to the industrial computer 10 via an interface to realize human-computer interaction and data display.

[0087] Figure 2 shows a flowchart of a recording method for a capsule endoscope control system according to an embodiment of the present invention. On the other hand, an embodiment of the present invention provides a recording method for a capsule endoscope control system, as shown in the figure, including the following steps:

[0088] Step S210: Start recording and record the start time;

[0089] Step S220: Save the initial position information and initial attitude information of the magnetic moving part 30;

[0090] Step S230: Collect control parameters from the industrial computer 10;

[0091] Step S240: Real-time acquisition of the state parameters of the magnetic moving part 30;

[0092] Step S250: End recording and write the recorded data into storage in a certain sequence data format.

[0093] After recording the capsule endoscope control system 100, the recorded data can be read and used to replay the capsule endoscope control system 100 when controlling the capsule endoscope 40. The replay process specifically includes: reading the recorded data, reconstructing the operation information of the industrial control computer 10 based on the recorded data; and performing corresponding operations at the target location of the industrial control computer 10 based on the operation information of the industrial control computer 10.

[0094] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0095] In this embodiment, coordinates can be established using any point of the magnetic moving component 30 as the origin or a relative reference origin. For example, the center of the magnetic moving component 30 can be used as the origin or a relative reference origin. Alternatively, the position data and attitude information of the magnetic moving component 30 can be read and saved, and then the initial setting information of the industrial control computer 10 (e.g., including power status, drive current magnitude, peripheral connection status, position display of the magnetic moving component 30, and display of magnetic field parameters) can be read and saved. The recorded data includes at least the control parameters of the industrial control computer 10 and the state parameters of the magnetic moving component 30.

[0096] In a preferred embodiment of the present invention, as shown in FIG3, step S230 may specifically include the following sub-steps:

[0097] Sub-step S231: Collect the operation information of the industrial control computer 10 and the magnetic field change events of the magnetic moving part 30;

[0098] Furthermore, in sub-step S231, the step of collecting magnetic field change events of the magnetic moving part 30 is, for example, to monitor the magnetic field change events of the magnetic moving part 30, and when the magnetic field change event is triggered, to acquire and save the state parameters of the magnetic moving part 30.

[0099] In sub-step S232, when the operation information of the industrial control computer 10 and the magnetic field change event of the magnetic motion component 30 are obtained, the state parameters of the magnetic motion component 30 are saved and the recorded data is generated.

[0100] Specifically, for example, the industrial control computer 10 controls the magnetic field changes of the magnetic moving component 30 through the driver 20a to achieve linear movement (e.g., movement along at least one of the X, Y, and Z directions) and rotational movement (rotation about at least one of the X, Y, and Z axes) within space. On the other hand, the industrial control computer 10 adjusts the magnetic field parameters of the magnetic moving component 30 by controlling the output current, so as to attract the capsule endoscope 40, which is located within the magnetic field, to move along with the magnetic moving component 30. Furthermore, the capsule endoscope 40 has various sensors (e.g., including a gravity sensor, image sensor, attitude sensor, and position sensor) to obtain its motion state parameters, and feeds them back to the industrial control computer 10 via wireless signal transmission. Based on this feedback signal, the industrial control computer 10 further precisely controls the motion state and parameters of the magnetic moving component 30, thus collecting operational information under different control conditions of the industrial control computer 10 and corresponding one-to-one with different magnetic field change events of the magnetic moving component 30. Furthermore, the magnetic motion component 30 incorporates various sensors (including attitude sensors and position sensors, not shown). This magnetic motion component 30 feeds back data to the industrial control computer 10 via the drive unit 20. The industrial control computer 10, combining the status parameters fed back by the connected magnetic motion component 30, can achieve precise control of the magnetic motion component 30's movement and also more clearly display the inspection operation process. Storing and recording the operation information of the industrial control computer 10 and the magnetic field change events of the magnetic motion component 30 in chronological order facilitates repeated review, which helps trainees become familiar with the operation process more efficiently.

[0101] Furthermore, in this embodiment, the step of acquiring the state parameters of the magnetic motion component 30 in real time includes: converting the control parameters and state parameters into a single operation program block and saving it. Accordingly, the operation flow of the magnetic motion component 30 is digitized, facilitating the storage of this data.

[0102] In a preferred embodiment of the present invention, as shown in FIG4, a further implementation of step S240 may include the following sub-steps:

[0103] Sub-step S241: When performing each record generation operation, save the attitude and position information of the corresponding magnetic motion component 30 and the initial setting information of the industrial control computer 10;

[0104] Sub-step S242: Record and save the attitude and position information of the magnetic motion component 30, the initial setting information of the industrial control computer 10, and the operation information in the same operation program block as a single operation program block.

[0105] This single-operation program block also stores the relative start and end times of a single operation. More specifically, for example, it stores the relative time nodes of the start and end of the linear motion of the magnetic motion component 30, or the corresponding start and relative end times of special motions of the magnetic motion component 30 (motion processes implemented based on other control algorithms, such as rotational motion around an axis). In this way, the operation process and parameter changes of a single motion are recorded independently, resulting in low memory usage, convenient operation, and targeted training. Compared to recording the entire process, independently recording and storing each operation, and then storing the entire operation process in segments, allows for more efficient targeted training, significantly saving resources and costs.

[0106] The capsule endoscope 40 moves in tandem with the magnetic motion component 30, so their trajectories are similar or identical. The movement of the capsule endoscope 40 is designed to minimize the force exerted on the digestive tract wall to reduce patient discomfort while providing a comprehensive view of the digestive tract. Therefore, the movement of the capsule endoscope 40 includes linear and rotational movements, or combinations thereof. Furthermore, to enable the observer (or trainee) to efficiently review parts of the examination process, different magnetic field changes can be recorded and saved in segments based on their relative start and end times. In this embodiment, the motion control of the magnetic motion component 30 is divided into multiple modes, such as position mode, speed mode, and origin mode. Each mode has a set of motion control parameters (e.g., speed, target position, acceleration / deceleration, etc.). For example, the movement mode (such as spatial movement or posture change) and state parameters (such as speed, target position, acceleration / deceleration, magnetic field magnitude, and direction) are recorded within a relative time period from start to end of a simple movement, with the corresponding start and end times serving as time nodes. For example, during special movements of the magnetic moving part 30 (such as movements implemented based on other control algorithms), its corresponding start and end relative times can be recorded as additional time nodes. Furthermore, segmented storage can avoid slow response or lag during file transfer, reading, and editing processes caused by excessively large storage files.

[0107] Furthermore, in this embodiment, the state parameters of the magnetic motion component 30 specifically include, from the relative start time to the relative end time in a single operation, the triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, position parameters, or any combination of at least two of these parameters. For ease of data acquisition, the aforementioned state parameters are preferably those that can be directly measured by sensors.

[0108] Furthermore, in this embodiment, recording can be started by setting a preset shortcut or hotkey for the recording operation, and then clicking the shortcut or hotkey to start. Correspondingly, in this embodiment, recording can be ended by clicking a preset shortcut or hotkey, and the operation record of clicking the preset shortcut or hotkey to end recording can be deleted from the generated single-operation program block.

[0109] It should be noted that the changes in the state parameters of the magnetic moving part 30 are realized through the operation of the industrial control computer 10. The recording can be achieved through an external camera device connected to the interface. The state parameters of the magnetic moving part 30 can be detected by the connected industrial control computer 10. The operation recording and playback program can be implemented in the form of a plug-in. The two can achieve synchronous processing to complete the recording and storage of data based on the consistency of system time.

[0110] On the other hand, the present invention provides a playback method for a capsule endoscope control system 100. Referring to FIG5, the playback method may include the following steps:

[0111] Step S310: Deserialize the data recorded during storage according to the write sequence, and read the recorded file from storage;

[0112] Step S320: Load the starting position information and starting attitude information of the magnetic motion component 30 from the recorded data;

[0113] Step S330: Initialize the position and attitude information of the magnetic motion component 30;

[0114] Step S340: Reconstruct the operation information of the industrial control computer 10 based on the recorded data;

[0115] In step S340, the recorded data includes the control parameters of the industrial control computer 10 and the status parameters of the magnetic motion component 30.

[0116] Step S350: Based on the operation information of the industrial control computer 10, perform the corresponding operation at the target location of the industrial control computer 10.

[0117] Before the playback process of the capsule endoscope control system 100, the capsule endoscope control system 100 also includes a recording process, which specifically includes: acquiring the control parameters of the industrial control computer 10 and obtaining the state parameters of the magnetic motion component 30; forming recorded data and storing it in a certain sequence of data format.

[0118] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0119] In step S350, the target position of the industrial control computer 10 is used to characterize the position of the magnetic motion component 30 under its corresponding operation.

[0120] In a preferred embodiment of the present invention, the recorded data may include data from a single control program block, complete data corresponding to all completed operations, or a collection of recorded data for each decomposed step (single operation) ordered by time sequence. As shown in FIG6, a further implementation of step S320 may include the following sub-steps:

[0121] Sub-step S321: Analyze the starting position and starting attitude information of the magnetic motion component 30 in the single operation program block;

[0122] Sub-step S322: Obtain the initial setting information of the industrial control computer 10 in the single operation program block, as well as the status parameters of the magnetic motion component 30 during the operation.

[0123] In a preferred embodiment of the present invention, as shown in FIG7, a further implementation of step S340 may include the following sub-steps:

[0124] Sub-step S341: Analyze the operation sequence of the industrial control computer 10 corresponding to the changes in the state parameters of the magnetic moving part 30;

[0125] Sub-step S342: Adjust the magnetic moving part 30 to the corresponding state according to the operation sequence.

[0126] In this embodiment, the posture and position information of the magnetic motion component 30 will change according to the operation sequence of the industrial control computer 10. The corresponding state in this step represents the posture and position of the magnetic motion component 30 after each operation of the industrial control computer 10.

[0127] In a preferred embodiment of the present invention, as shown in FIG8, a further implementation of step S350 may include the following sub-steps:

[0128] Sub-step S351: Parse the operation information of the industrial control computer 10 and obtain the operation information of the industrial control computer 10 in sequence;

[0129] Sub-step S352: Based on the initial setting information of the industrial control computer 10 and the state parameters of the magnetic motion component 30, execute the magnetic field change event of the magnetic motion component 30 in the order of the operation information of the industrial control computer 10. The initial setting information refers to the setting information of the industrial control computer 10 in its initial state, such as the setting information displayed on the operation interface of the industrial control computer 10 at the beginning.

[0130] Furthermore, in this embodiment, the playback method further includes: determining whether the operation sequence was completed normally; if so, ending the program; if not, prompting the user to re-record. The step of determining whether the operation sequence was completed normally can be implemented using existing control algorithms or functions, and will not be elaborated upon here.

[0131] Furthermore, in this embodiment, the step of determining whether the aforementioned operation information has been completed normally also includes: checking the starting position information and starting posture information of the magnetic motion component 30, and whether the operation information of the industrial control computer 10 has been loaded; and checking whether the operation sequence has been completed. Through the above-mentioned detection of the features of the magnetic motion component 30, the effectiveness of the operation performed by the magnetic motion component 30 can be further ensured, and the accuracy of its operation can be improved.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0133] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0136] Those skilled in the art should understand that the scope of protection of this invention is not limited to the recording and playback functions of the magnetically controlled capsule endoscope control system running on an industrial computer. The recording and playback functions of the magnetically controlled capsule endoscope control system with an industrial computer are used in the embodiments of this invention for the sake of simplicity and convenience.

[0137] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0138] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A capsule endoscope control system, characterized in that, include: The capsule endoscope control system includes a magnetic motion component whose position and orientation changes generate a magnetic field change, causing the capsule endoscope to move accordingly; a drive unit connected to the magnetic motion component to control its position and orientation changes; and an industrial control computer connected to both the magnetic motion component and the drive unit. During capsule endoscope examinations, the industrial control computer acquires the position and orientation of the magnetic motion component in real time and stores the changes in position and orientation over time as parameter data. The control system also includes a plug-in that performs the following steps: initiating recording and recording the start time; saving the initial position and orientation information of the magnetic motion component; and collecting data from the industrial control unit. The process includes: controlling the control parameters of the industrial control computer; acquiring the status parameters of the magnetic moving component in real time; ending the recording and writing the recorded data into storage in a certain sequence data format, wherein the recorded data includes the control parameters and the status parameters; the step of acquiring the control parameters of the industrial control computer includes: acquiring the operation information of the industrial control computer and acquiring the magnetic field change events of the magnetic moving component; acquiring the magnetic field change events of the magnetic moving component includes: monitoring the magnetic field change events of the magnetic moving component, and when the event is triggered, acquiring and saving the status parameters of the magnetic moving component; the step of acquiring the status parameters of the magnetic moving component in real time includes: converting the control parameters and the status parameters into a single operation program block and saving it.

2. The capsule endoscope control system according to claim 1, characterized in that, The industrial control computer reads the parameter data during the use of the capsule endoscope and controls the position and posture changes of the magnetic moving parts according to the parameter data.

3. The capsule endoscope control system according to claim 1, characterized in that, The parameter data is stored as a data file or database record for recording time, position parameters, and attitude parameters.

4. The capsule endoscope control system according to claim 1, characterized in that, The drive unit includes multiple drivers, which receive control parameters and motion commands from the industrial control computer to control the position and attitude changes of the magnetic moving parts.

5. The capsule endoscope control system according to claim 1, characterized in that, The industrial control computer includes: a control module for setting the magnetic field parameters of the magnetic moving component; a calibration module for setting the position and attitude of the origin or relative to the reference origin of the magnetic moving component; a position module for reading the real-time attitude data of the magnetic moving component; a storage module for writing the magnetic field parameters, position parameters, attitude parameters, and start and end times of the movement of the magnetic moving component into a storage file using a certain sequence encoding; and a file management module for reading and editing the storage file.

6. A computer program product, applied to a capsule endoscope control system as described in any one of claims 1-5, characterized in that, The steps of saving the initial position information and initial attitude information of the magnetic moving component include: reading and saving the position information and attitude information of the magnetic moving component based on the origin of the magnetic moving component's coordinates or the relative reference origin; and reading and saving the initial setting information of the industrial control computer.

7. The computer program product according to claim 6, characterized in that, The steps for saving a single operation program block include: saving the attitude and position information of the corresponding magnetic motion component and the start setting information of the industrial control computer when performing each record generation operation; recording the attitude and position information of the magnetic motion component, the start setting information of the industrial control computer, and the operation information in the same operation program block and saving it as a single operation program block; wherein, the single operation program block also saves the relative start time and relative end time of the single operation.

8. The computer program product according to claim 7, characterized in that, The state parameters of the magnetic motion component include: at least one of the following: triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, position parameters, or combinations thereof, during a single operation from the relative start time to the relative end time.

9. A computer program product, applied to a capsule endoscope control system as described in any one of claims 1-5, characterized in that, include: Deserialize the data recorded during storage based on the write sequence of the data recorded at storage, and read the data recorded in storage; The process involves: loading the initial position and initial attitude information of the magnetic moving component from the recorded data; initializing the position and attitude information of the magnetic moving component; restoring the operation information of the industrial control computer based on the recorded data, which includes the control parameters of the industrial control computer and the state parameters of the magnetic moving component; performing a corresponding operation at the target position of the industrial control computer based on the operation information of the industrial control computer, wherein the target position of the industrial control computer is used to characterize the position of the magnetic moving component under the corresponding operation; and executing the magnetic field change event of the magnetic moving component according to the order of the operation information of the industrial control computer based on the initial setting information of the industrial control computer and the state parameters of the magnetic moving component.

10. The computer program product according to claim 9, characterized in that, The recorded data includes multiple single-operation program blocks sorted by time sequence. The step of loading the starting position information and starting posture information of the magnetic motion component in the recorded data includes: parsing the starting position information and starting posture information of the magnetic motion component in the single-operation program block; obtaining the starting setting information of the industrial control computer in the single-operation program block, and the state parameters of the magnetic motion component during the operation.

11. The computer program product according to claim 10, characterized in that, Also includes: Determine whether the operation was completed normally; If yes, the program ends; if no, the user is prompted to re-record.

12. The computer program product according to claim 11, characterized in that, The step of determining whether the operation information has been completed normally further includes: checking the starting position information and starting posture information of the magnetic motion component, and whether the operation information of the industrial control computer has been loaded; and checking whether the operation sequence has been executed.

13. The computer program product according to claim 10, characterized in that, The step of restoring the operation information of the industrial control computer based on the recorded data includes: parsing the operation sequence of the industrial control computer corresponding to the changes in the state parameters of the magnetic moving component; and adjusting the magnetic moving component to the corresponding state according to the operation sequence.

14. The computer program product according to claim 10, characterized in that, The state parameters of the magnetic motion component include: at least one of the following: triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, position parameters, or combinations thereof, during a single operation from the relative start time to the relative end time.

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