A method for controlling magnetic capsule

Abstract

A method for manipulating a magnetic capsule, for manipulating the magnetic capsule through a target area, the method comprising: introducing a magnetic capsule into the target area, the magnetic capsule having a longitudinal direction, and a magnetic dipole placed in the magnetic capsule having a magnetization direction parallel to the longitudinal direction of the magnetic capsule; equipping an external magnetic control system having multiple magnetic field generating devices, the multiple magnetic field generating devices including two external magnetic balls; using the external magnetic control system to control the external magnetic balls so that their magnetic field directions are parallel to the magnetization direction of the magnetic capsule, and the external magnetic balls are moved along a first motion direction parallel to the magnetic field direction of the external magnetic balls, so as to move the magnetic capsule in the first motion direction; and generating an external combined magnetic field to provide the magnetic force required to move the magnetic capsule in the first motion direction.

Description

[0001] Cross-references

[0002] This case is a divisional application of Chinese patent application No. 201780058764.8 filed on September 23, 2017. All disclosed contents of the above application are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of medical capsule devices, and in particular to a method for manipulating a magnetic capsule through a patient's gastrointestinal tract using two external magnetic field generating devices. Background Art

[0004] Magnetic capsule endoscopes have been widely commercialized and have achieved great success in the field of gastric examination. However, similar magnetic capsule endoscopes on the market cannot currently be placed in the small intestine and colon for routine examination.

[0005] To date, there are three types of external magnetic field generating systems on the market for controlling the movement of magnetic capsule endoscopes within a patient's gastrointestinal tract. These are electromagnetic coils, electromagnets, and permanent magnets. To provide sufficient driving force, a standard magnetic capsule endoscope can be moved into the patient's small intestine using an external magnetic field or an external magnetic field gradient. However, electromagnetic coil and electromagnet systems consume significant power, and the need for heat dissipation makes these systems even larger, ultimately resulting in very high construction and operating costs. Furthermore, electromagnetic compatibility (EMC) is a significant challenge for electromagnetic coil and electromagnet systems, and potential safety issues associated with electromagnetic fields have also attracted attention.

[0006] Compared to electromagnetic coils, permanent magnets are a cleaner and more efficient way to generate strong magnetic fields or magnetic field gradients. However, the control algorithms for permanent magnets are much more complex than those for electromagnetic coils. Because the strength of an electromagnet can be adjusted using an electric current, electromagnets are slightly more flexible than permanent magnets. However, when it comes to controlling the movement of the magnetic capsule, the complexity of permanent magnetic fields for electromagnets and permanent magnets is on the same order of magnitude. To achieve the same magnetic field or magnetic field gradient, an electromagnet occupies two to three times more space than a permanent magnet. For permanent magnets, a spherical shape is the most efficient shape for generating far fields or magnetic field gradients.

[0007] Therefore, a magnetic control system that can steer the capsule through the small intestine is required. The magnetic control system should use an external permanent magnetic dipole and be easy to operate. Summary of the Invention

[0008] The present invention discloses a method for examining the gastrointestinal tract of a patient.

[0009] A technical problem solved by the present invention is that a magnetic capsule can be suspended at a target location without any physical support, such as wall support, ceiling suspension, or floating in liquid.

[0010] Another technical problem solved by the present invention is that the magnetic capsule can be very well controlled to perform linear motion in the horizontal and vertical directions without any instability.

[0011] Another technical problem solved by the present invention is that the magnetic capsule can adjust its direction without support, and the adjustment angle is 0-45 degrees.

[0012] Another technical problem solved by the present invention is that the magnetic capsule can rotate smoothly vertically or horizontally.

[0013] Another technical problem solved by the present invention is that all movements of the capsule are controlled by two magnetic balls, and the two magnetic balls can work individually or in coordination.

[0014] Another technical problem solved by the present invention is that all movements of the capsule are controlled by two magnetic balls, but when the magnetic capsule is in a specific position or direction, one magnetic ball serves as the main motion control device and the other magnetic ball serves as the secondary motion control device; in other positions or directions, the two magnetic balls share the motion control task of the magnetic capsule.

[0015] One advantage of the present invention is that the movement speed of the capsule can be adjusted in two independent ways, including: the movement of the magnetic ball in a specific direction and the movement under the action of the combined magnetic field force.

[0016] On the one hand, the present invention provides various motion combinations of magnetic capsules that were previously unattainable. On the other hand, the present invention provides a capsule that can move very accurately and smoothly along a predetermined route in a narrow area.

[0017] Another advantage of the present invention is that the magnetic capsule can smoothly turn left and right in the colon passage. The magnetic capsule can continuously rotate 0-360 degrees.

[0018] Within the scope of the present invention, the magnetic capsule can be linearly moved in both horizontal and vertical directions and can be continuously rotated 0-360 degrees horizontally and vertically while remaining in position. In addition, the orientation of the capsule can be precisely adjusted. By combining horizontal and vertical rotation, the capsule can be positioned in any direction.

[0019] In one aspect, the present invention provides a method for controlling the movement of a magnetic capsule within a target area, the method comprising:

[0020] introducing a magnetic capsule into a target area, wherein the magnetic capsule has a longitudinal direction, and a magnetic dipole disposed within the magnetic capsule has a magnetization direction consistent with the longitudinal direction of the magnetic capsule;

[0021] providing an external magnetic control system comprising a plurality of magnetic field generating devices;

[0022] Moving the external magnetic control system to a first position in a first direction to move the magnetic capsule in a first motion direction, wherein the first motion direction is consistent with the longitudinal direction of the magnetic capsule;

[0023] An external combined magnetic field is generated to provide a force on the magnetic capsule in the longitudinal direction of the capsule. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following is a clear description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0025] Figure 1 is a schematic diagram of a magnetic capsule system according to aspects of the present invention;

[0026] Figure 2 is a perspective view of an exemplary external magnetic control system according to aspects of the present invention; wherein the examination table extends out of the support;

[0027] Figure 3 is a perspective view of an exemplary external magnetic control system according to aspects of the present invention; wherein the examination table is located within the support;

[0028] Figure 4 is an exploded perspective view of an exemplary external magnetic control system according to aspects of the present invention, wherein the examination table is located within the support and the components are separated to better illustrate the system structure;

[0029] Figure 5 is an exploded perspective view of an exemplary external magnetic control system according to aspects of the present invention; wherein the inspection platform or bed is removed so that the structural components can be clearly shown and labeled;

[0030] Figure 6 is a cross-sectional view of the external magnetic control system when viewed from the back;

[0031] Figure 7 yes Figure 6 a left side view of the system shown;

[0032] Figure 8 yes Figure 6 A top view of the system shown;

[0033] Figure 9 is a schematic diagram of a magnetic capsule according to aspects of the present invention;

[0034] Figure 10 is a schematic diagram showing that a magnetic capsule can move horizontally along the XY plane, where the magnetization direction of the magnetic capsule is the same as the forward direction;

[0035] Figure 11is a schematic diagram showing that a magnetic capsule can move vertically in the Z-axis direction away from the XY plane, wherein the magnetization direction of the magnetic capsule is opposite to the forward direction;

[0036] Figure 12 When the two magnetic balls and magnetic capsule are located Figure 11 The relative distribution of magnetic force and magnetic field at the position shown;

[0037] Figure 13 is a schematic diagram of another operating situation, in which the two magnetic balls and the magnetic capsule are magnetized in opposite directions;

[0038] Figure 15 When the two magnetic balls and magnetic capsule are located Figure 13 The relative distribution of magnetic force and magnetic field at the position shown;

[0039] Figure 14 is a schematic diagram of another operating situation, in which the two magnetic spheres are aligned perpendicularly, have equal magnetizations and their directions are mirror images of each other along the midplane;

[0040] Figure 16 is a schematic diagram of another operating situation, in which two magnetic spheres are aligned vertically, have the same magnetization and the directions of magnetization are mirror images of each other along the middle plane, and the magnetic capsule is dragged forward;

[0041] Figure 17 is a schematic diagram of another operating situation, in which two magnetic spheres are aligned vertically, have the same magnetization and the directions of magnetization are mirror images of each other along the middle plane, and the magnetic capsule is dragged forward;

[0042] Figure 18 It is the initial position and orientation of the magnetic capsule and the external magnetic ball during the process of changing the position and orientation of the magnetic capsule by adjusting the external magnetic control system;

[0043] Figure 19 The position and direction of the magnetic capsule are changed by adjusting the external magnetic control system. Towards The final position and orientation of the magnetic capsule and the external magnetic ball during the process;

[0044] Figure 20 It is the final position and orientation of the magnetic capsule and the external magnetic ball in another process of changing the position and orientation of the magnetic capsule by adjusting the external magnetic control system;

[0045] Figures 21-24 This is a schematic diagram of how to rotate the magnetic capsule in the xz plane;

[0046] Figure 25 It is a top view schematic diagram of how to rotate the magnetic capsule in the xy plane;

[0047] Figure 26 It is a side view schematic diagram of how to rotate the magnetic capsule in the xy plane;

[0048] Figure 27 and 28 A side view schematic diagram of how to adjust the position of the magnetic ball to move the magnetic capsule vertically; and

[0049] Figure 29 It is the operation flow chart of the external magnetic control system. DETAILED DESCRIPTION

[0050] The following, in conjunction with the accompanying drawings, describes in detail how to use the magnetic capsule device placed at the target position and the system using the same to complete the intended method steps provided by each embodiment. For the sake of simplicity, the magnetic capsule is described in the context of biomedical applications, that is, the target position is in the patient's body, such as in the digestive tract. For the sake of simplicity, the medical device described in the present invention is an in-vivo device, and swallowing into the digestive tract is a non-invasive delivery method for the device. Therefore, the medical device is called a capsule, and this interpretation is not limited by shape, size or size. The magnetic capsule and the method of use thereof described in the present invention can meet a variety of other application needs outside of biomedicine.

[0051] The system described in the present invention is for illustrative purposes only and should not limit what such a system can and cannot include. In order to implement the method described in the present invention, the system must include two main magnetic field generating devices. In the specific implementation of the method described below, the two main magnetic field generating devices refer to two magnetic balls with the same size and magnetic field strength. Describing the two magnetic balls in this way is only for the purpose of simplification. The method steps disclosed in the present invention can be used for any other two magnetic field generating devices with various relative sizes, weights and magnetic field strength relationships. The two main magnetic field generating devices shown in the accompanying drawings are respectively arranged on opposite sides of the patient, especially on the upper and lower sides of the patient. The relative position distribution relationship between the patient and the two magnetic balls is also not limited by the explanation of the present invention. As long as the basic physical principles of the present invention remain unchanged and the method steps described in the present invention are guaranteed to be applicable to such a system, the relative positions of the two magnetic balls and the patient can be arranged according to the intended purpose, convenience and comfort.

[0052] according to Figure 8 As shown, the magnetic capsule has a length, which is the longest dimension of the magnetic capsule. The length direction is called the longitudinal direction of the magnetic capsule. The magnetic capsule is not necessarily Figure 8 The cylindrical capsules shown have one or two semi-circular apexes. The capsules can have any shape and weight as long as the basic physical principles apply to the magnetic capsules.

[0053] In a preferred embodiment of the present invention, when the magnetic capsule moves linearly, the direction of movement is the same as, coincides with, or is parallel to the longitudinal direction of the magnetic capsule. The forward movement of the magnetic capsule means that the front end of the magnetic capsule points in the direction of movement when the magnetic capsule moves. The backward movement of the magnetic capsule means that the front end of the magnetic capsule points in the opposite direction of movement when the magnetic capsule moves. In a preferred embodiment, the front end of the capsule includes a diagnostic device or a therapeutic device, such as an optical lens. In some embodiments, the rear end linearly opposite to the front end may also include a supplementary diagnostic device or therapeutic device. In addition, the magnetic capsule also has a magnetic dipole direction parallel to the longitudinal direction of the capsule, and is parallel both forward and backward.

[0054] In the context of the present invention, M refers to the magnetic moment of the external magnetic field generating device, which is an external magnetic ball; m refers to the magnetic moment of the magnet inside the capsule. Typically, the magnetic moment M of the magnetic ball is about 25 to 25,000 A / cm 2 The magnetic moment m of the magnet is about 0.02-2A / cm 2 .

[0055] In one embodiment, the magnetic moment M of the magnetic sphere is about 2000-3000 A / cm 2 In another embodiment, the magnetic moment m of the magnet is about 0.2 A / cm 2 .

[0056] Within the scope of the present invention, the diameter of the external magnetic ball is 8-10 cm, the minimum movement path has a width of 30 cm, a length of 30 cm, and a height of 20 cm; the maximum movement path has a width of 60 cm, a length of 100 cm, and a height of 50 cm; the preferred movement path has a width of 40 cm, a length of 60 cm, and a height of 30 cm.

[0057] According to the first aspect of the present invention, the method disclosed in the present invention is capable of simultaneously manipulating two external magnetic balls to transport the magnetic capsule to a target location, and allowing the magnetic capsule to be suspended and / or in physical contact with another surface with or without additional support. The other surface includes but is not limited to the inner wall of the colon or stomach located above the magnetic capsule, so that the magnetic capsule can be suspended thereunder; the inner wall of the colon or stomach located below the magnetic capsule, so that the magnetic capsule can stand on it; and liquids and interfaces, so that the magnetic capsule can float therein. Under the action of the external combined magnetic field generated by the two external magnetic balls, the magnetic capsule can be suspended in any medium in the target inspection area at any relative position to achieve its inspection purpose.

[0058] The method comprises the following steps:

[0059] Arrange patients who have swallowed the capsule to enter the examination area;

[0060] Two magnetic balls are introduced into the examination area;

[0061] Position the two magnetic balls so that the vertical distance between their centers is greater than 50 cm;

[0062] suspending the magnetic capsule in a medium at a target area in a patient's body without any contact with the gastrointestinal lining of the target area, wherein the medium is air or CO2;

[0063] The combined magnetic field strength generated by the magnetic balls is measured by a magnetic sensor built into the magnetic capsule;

[0064] The position and direction of the magnetic capsule are calculated using two three-dimensional magnetic sensors and one three-dimensional acceleration sensor built into the magnetic capsule;

[0065] Adjust the vertical and horizontal positions of the two magnetic balls so that the capsule is in the middle of the two magnetic balls.

[0066] According to a second aspect of the present invention, the method disclosed in the present invention aims to enable a magnetic capsule placed in a remote target area to move linearly, including horizontally.

[0067] Reference Figure 10 and 11 The magnetic capsule described in this article is a magnetic capsule endoscope equipped with an imaging device (such as an optical lens). If only one lens is configured in the capsule endoscope, then according to the convention of capsule endoscope technology, the lens should be located at the front end of the capsule endoscope. Figure 10 In the schematic diagram shown, the capsule endoscope's lens is located at the right end. The right end is the front end of the magnetic capsule endoscope, and the left end is the rear end. The magnetic capsule endoscope has a magnetic dipole direction parallel to its longitudinal direction, running from left to right, that is, from the rear end to the front end of the capsule. The intended movement direction of the capsule device is from left to right and forward. The combined magnetic field generated by the external magnetic sphere is used to move the capsule endoscope forward.

[0068] exist Figure 10 In the schematic diagram, the capsule's motion path is assumed to be along a centerline extending from the rear end to the front end of the capsule. This centerline extends forward to form the center dividing line between the two outer magnetic spheres. The two outer magnetic spheres are located on either side of this center dividing line. In addition, the center dividing line is also considered the motion boundary of the two outer magnetic spheres.

[0069] like Figure 10As shown, two external magnetic balls are placed in the inspection area, with one magnetic ball located above the center dividing line and the other located below the center dividing line. In this embodiment, because the two magnetic balls have the same magnetic dipole and size, the two magnetic balls are initially at the same distance from the center dividing line. Figure 10 Each magnetic sphere has only one magnetic center. The magnetic centers of the two magnetic spheres are vertically aligned, and the magnetic dipoles of the two magnetic spheres point in different directions. Figure 10 As shown, the magnetic ball located above the center dividing line points upward, while the magnetic ball located below the center dividing line points downward. After the two magnetic balls are accurately positioned, they are mirror images of each other relative to the center dividing line. In addition, the projection of the magnetic center of the two magnetic balls in the direction of movement of the magnetic capsule is located in front of the magnetic capsule. The distance between the projection and the center of the magnetic capsule is marked as x. By positioning the upper and lower magnetic balls in this way, the magnetic capsule will move toward the projection point under the action of the combined magnetic field B, and the magnetic field force acting is F. Here, B is a vector having a direction from left to right, which is consistent with the direction of movement. The magnetic field force acting on the magnetic capsule "drags the capsule forward."

[0070] And in Figure 11 In the embodiment, the lens of the magnetic capsule endoscope is located at the left end of the capsule. The left end is the front end of the capsule endoscope, and the right end is the rear end of the capsule endoscope. The capsule endoscope has a magnetic dipole orientation from right to left, i.e., from the rear end to the front end of the capsule along the longitudinal direction of the capsule. The intended movement direction is from left to right, which is backward for the magnetic capsule endoscope. The external combined magnetic field generated by the magnetic sphere is used to pull or drag the capsule, causing it to move backward.

[0071] exist Figure 11 In the schematic diagram, the motion path of the magnetic capsule is assumed to be along a centerline extending from the rear end to the front end of the capsule. This centerline extends forward to form the center dividing line between the two outer magnetic spheres. The two outer magnetic spheres are located on either side of this center dividing line. In addition, the center dividing line is also regarded as the motion boundary of the two outer magnetic spheres.

[0072] Similarly, two external magnetic balls are placed in the inspection area, with one magnetic ball located above the center dividing line and the other located below the center dividing line. In this embodiment, if the two magnetic balls have the same magnetic dipole and size, the distances from the two magnetic balls to the center dividing line are initially equal. Figure 11It is marked as h in the figure. If the two magnetic balls have different sizes or magnetic dipoles, the difference between them will be calculated and converted into the difference in the original distance, so as to achieve the goal of this method: to provide equal and coordinated magnetic fields in opposite directions around the capsule so that the capsule can move smoothly. Each magnetic ball has only one magnetic center. The magnetic centers of the two magnetic balls are vertically aligned, and the magnetic dipoles of the two magnetic balls point in different directions. Figure 11 As shown, the magnetic ball located above the center dividing line points downward toward the center dividing line, while the magnetic ball located below the center dividing line points upward toward the center dividing line. After the two magnetic balls are accurately positioned, they are mirror images of each other relative to the center dividing line. In addition, the projections of the magnetic centers of the two magnetic balls in the direction of movement of the capsule are located in front of the magnetic capsule. The distance between the projection and the center of the magnetic capsule is marked as x. By positioning the upper and lower magnetic balls in this way, the magnetic capsule will move forward toward the projection point under the action of the combined magnetic field B, and the magnetic field force acting is F. Among them, B is a vector having a direction from left to right, which is consistent with the direction of movement. The magnetic field force acting on the magnetic capsule "drags the capsule backward."

[0073] According to a second aspect of the present invention, the method comprises moving the magnetic capsule endoscope horizontally forward or backward along its longitudinal direction by horizontally moving two external magnetic balls, wherein the magnetization direction of the capsule endoscope, the direction of the combined magnetic field (B), and the direction of the magnetic force (F) acting on the magnetic capsule are parallel to each other. The intended movement direction of the magnetic capsule endoscope is directed toward a line connecting the centers of the two external magnetic balls. In a preferred embodiment, the maximum point of the combined magnetic field (B) and the maximum point of the magnetic force (F) acting on the magnetic capsule are very close to each other.

[0074] According to various aspects of the present invention, Figure 10 and Figure 11 An embodiment of two capsules moving in a straight line is illustrated. In this method, two external magnetic balls are on opposite sides of a central dividing line (movement boundary) and are aligned vertically. The central dividing line is also the intended direction of movement of the magnetic capsule. The magnetization directions of the two external magnetic balls are perpendicular to the central dividing line and are opposite to each other, that is, they point to the central dividing line at the same time or point to the direction away from the central dividing line at the same time. The longitudinal direction of the magnetic capsule endoscope is along the central dividing line, and the magnetization direction of the magnetic capsule is along its length. The magnetic force F and magnetic field B received by the magnetic capsule are both normalized to their maximum values. The distance from the center of each magnetic ball to the central dividing line is marked as h. The distance from the magnetic center of the magnetic capsule to the projection line connecting the magnetic centers of the external magnetic balls is marked as x. The distance x can be normalized by the distance h.

[0075]

[0076]

[0077]

[0078]

[0079] The relationship between the distance x, the distance h, the magnetic force F, and the combined magnetic field B can be expressed by formulas 1 and 2, where M is the magnetic moment of the magnetic sphere, m is the magnetic moment of the magnet built into the capsule, and u0 is the magnetic permeability of vacuum.

[0080] In addition, the maximum values ​​of F and B (F max and B max ) can be calculated using Formula 3 and Formula 4.

[0081] Figure 12 The magnetic field strength ratio B / B is given max The relationship between the relative distance x / h and the magnetic force ratio F / F max and the relationship between the relative distance x / h. As shown in the calculation formula and Figure 12 As shown, the ideal range of motion for the most stable movement occurs when the distance x is between 0.5h and 0.7h, where both the magnetic force (F) and the magnetic field strength (B) are strong. In this example, h is approximately 15 cm, corresponding to a distance x of approximately 7.5-10.5 cm. In this example, M is the magnetic moment of the magnetic sphere, m is the magnetic moment of the magnet built into the capsule, and u0 is the magnetic permeability of the vacuum.

[0082] According to aspects of the present invention, in one embodiment, the distance h is approximately 5-25 cm, and the distance x is approximately 2.5-17.5 cm. In another embodiment, the distance h is approximately 10-20 cm, and the distance x is approximately 5-14 cm. In another embodiment, the distance h is approximately 12-17 cm, and the distance x is approximately 6-11.9 cm.

[0083] Figure 13-15 The third aspect of the present invention is described. Figure 13 and Figure 14 The magnetic capsule is placed in such a way that the direction of movement is the length direction of the capsule. Figure 13 In the figure, the front end of the magnetic capsule is on its right side, and the magnetization direction of the capsule is from left to right. The midline of the magnetic capsule in its longitudinal direction extends outward, becoming the central dividing line of the external magnetic control system. The central dividing line is consistent with the expected movement direction of the magnetic capsule. The two external magnetic balls are located on both sides of the central dividing line, and their projection positions on the central dividing line are located in front of the magnetic capsule. Figure 13, the two magnetic balls are located above and below the central dividing line respectively, and their magnetic centers are mirror images of each other relative to the central dividing line. The projection line connecting the centers of the magnetic balls is perpendicular to the central dividing line, and the central dividing line is also the extension line of the magnetic capsule in the longitude direction. The distance from the magnetic center of the capsule to the projection line, or the distance to the intersection of the projection line and the central dividing line is x. The distance from the center of the outer magnetic ball (magnetic center) to the central dividing line is h. Figure 13 In the example, the two outer magnetic balls are made of the same material and have the same size; therefore, initially the two magnetic balls are positioned equidistant from the center dividing line. Figure 13 The embodiment shown is Figure 10 A key difference between the embodiments shown is that the magnetic fields of the upper and lower magnetic balls are parallel to the magnetic field of the magnetic capsule, rather than perpendicular to each other, but the magnetic fields of the magnetic balls are opposite to the magnetic field of the magnetic capsule. Figure 13 In the figure, the magnetic field direction of the magnetic capsule is from left to right, while the magnetic field direction of the upper and lower magnetic balls is from right to left. Figure 13 In the illustrated embodiment, the magnetic centers of the upper and lower magnetic balls lie in the same vertical plane as the magnetic center of the magnetic capsule. The combined magnetic field B points in the direction of the magnetic balls' motion, that is, to the right. The magnetic force acting on the magnetic capsule also points to the right, in the direction of the capsule's forward motion, dragging the capsule forward.

[0084] Figure 14 yes Figure 13 Schematic diagram of an alternative embodiment to the illustrated embodiment, in which the magnetic capsule is dragged backwards rather than moved forwards. Figure 14 In the figure, the front end of the magnetic capsule is on its left side, and the magnetization direction of the capsule is from right to left. The midline of the magnetic capsule in its longitudinal direction extends outward, becoming the central dividing line of the external magnetic control system. The central dividing line is consistent with the expected movement direction of the magnetic capsule. Similarly, the two external magnetic balls are respectively located on both sides of the central dividing line, and the projection position of each on the central dividing line is located in front of the magnetic capsule on the expected movement path of the magnetic capsule. Figure 14 , the two magnetic balls are located above and below the central dividing line respectively, and their magnetic centers are mirror images of each other relative to the central dividing line. The projection line connecting the centers of the magnetic balls is perpendicular to the central dividing line, and the central dividing line is also the extension line of the magnetic capsule in the longitude direction. The distance from the magnetic center of the capsule to the projection line, or the distance to the intersection of the projection line and the central dividing line is x. The distance from the center of the outer magnetic ball (magnetic center) to the central dividing line is h. Figure 14 In the example, the two outer magnetic balls are made of the same material and have the same size; therefore, initially the two magnetic balls are positioned equidistant from the center dividing line. Figure 14 The embodiment shown is Figure 11A key difference between the embodiments shown is that the magnetic fields of the upper and lower magnetic balls are parallel to the magnetic field of the magnetic capsule, rather than perpendicular to each other, but the magnetic fields of the magnetic balls are opposite to the magnetic field of the capsule. Figure 14 In the figure, the magnetic field direction of the magnetic capsule is from right to left, while the magnetic field directions of the upper and lower magnetic balls are from left to right. Figure 14 In the illustrated embodiment, the magnetic centers of the upper and lower magnetic balls and the magnetic center of the magnetic capsule are in the same vertical plane. The combined magnetic field B is directed from right to left, and the magnetic force acting on the magnetic capsule moves it from left to right, dragging it backward.

[0085] Figure 13 and 14 The embodiment shown is Figure 10 and 11 The key difference between the embodiments shown is the direction of the magnetic fields of the two outer magnetic spheres. Figure 10 and 11 In the embodiment shown, the magnetic field direction of the magnetic ball is perpendicular to the magnetic field direction of the magnetic capsule, and Figure 13 and 14 In the embodiment shown, the magnetic field direction of the magnetic ball is parallel to the magnetic field direction of the magnetic capsule. In the above embodiments, the magnetic capsule can move smoothly in the horizontal direction, but Figure 13 and 14 The maximum magnetic force (F) on the magnetic capsule in the Figure 10 and 11 Half of the maximum magnetic force (F) exerted on the same magnetic capsule in the experiment.

[0086] According to a third aspect of the present invention, the method is to move the magnetic capsule endoscope horizontally forward or backward along its longitudinal direction by horizontally moving two external magnetic balls, wherein the magnetization direction of the capsule endoscope, the direction of the combined magnetic field (B), and the direction of the magnetic force (F) exerted on the magnetic capsule endoscope are parallel to each other, but the expected movement direction of the magnetic capsule is parallel to the magnetization direction of the two external magnetic balls. Typically, the magnetic field generated by the external magnetic balls is three-dimensionally distributed, and the magnetic fields generated by the two external magnetic balls are combined to form an external combined control magnetic field. Theoretically, although the magnetic field has no spatial limitations, it will decay as a cubic power. Therefore, in a preferred embodiment, the two external magnetic balls should be in the same vertical plane as the magnetic capsule to ensure optimal performance.

[0087]

[0088]

[0089]

[0090]

[0091] The relationship between the distance x, the distance h, the magnetic force F, and the combined magnetic field B can be expressed by equations 5 and 6, where M is the magnetic moment of the magnetic sphere, m is the magnetic moment of the magnet built into the capsule, and u0 is the magnetic permeability of vacuum.

[0092] In addition, the maximum values ​​of F and B (F max and B max ) can be calculated using Equation 7 and Equation 8.

[0093] Figure 15 The magnetic field strength ratio B / B is given max The relationship between the relative distance x / h and the magnetic force ratio F / F max and the relationship between the relative distance x / h.

[0094] To ensure that the magnetic force and magnetic field are in the same direction, the capsule's built-in magnet and the two magnetic balls should be in the same vertical plane. If they are not in the same vertical plane, in addition to the magnetic force in the same direction, the capsule will also be affected by a magnetic force pointing to the vertical plane.

[0095] As the calculation results of formula 5-8 and Figure 15 As shown, when the distance x is about 0.26h, the optimal motion area with the strongest magnetic force (F) appears. In this embodiment, h is about 15 cm, and the corresponding distance x is about 4 cm. Figure 13 and 14 In the illustrated embodiment, the magnetic capsule moves in the x-direction, the up-down direction in the z-direction, and the direction of movement in and out of the xz plane in the y-direction. When the distance x is 4 cm, it is recommended that the magnetic capsule's movement area in the xy plane be 4 cm larger than the colon examination area in all directions in the xy plane, including each of the +x, -x, +y, and -y directions.

[0096] Secondly, Figure 15 It is also shown that when the distance x is greater than 0.5h, the combined magnetic field will change direction, so the capsule must also change direction to meet the need for smooth movement in this area greater than 0.5h.

[0097] Figure 16-17 A fourth aspect of the present invention is described, wherein the magnetic field directions of the two external magnetic balls and the magnetic field direction of the magnetic capsule are neither perpendicular nor parallel to each other, but form an angle of 0-90 degrees. Figure 10-11 and Figure 13-14 The examples shown are for comparison purposes only. Figure 16 and Figure 17 In the embodiment, the magnetic capsule is placed in the same manner as in the comparative example, that is, the magnetic capsule is placed horizontally in the xy plane, and its movement direction is the longitudinal direction (-x direction). Figure 16 In the figure, the front end of the magnetic capsule is on its right side, and the magnetization direction of the capsule is from left to right. The midline of the capsule in its longitudinal direction extends outward, becoming the central dividing line of the external magnetic control system. The central dividing line is consistent with the expected movement direction of the magnetic capsule. The two external magnetic balls are located on both sides of the central dividing line, and their projection positions on the central dividing line are located in front of the magnetic capsule. Figure 16 , the two magnetic balls are located above and below the central dividing line respectively, and their magnetic centers are mirror images of each other relative to the central dividing line. The projection line connecting the centers of the magnetic balls is perpendicular to the central dividing line, and the central dividing line is also the extension line of the magnetic capsule in the longitude direction. The distance from the magnetic center of the capsule to the projection line, or the distance to the intersection of the projection line and the central dividing line is x. The distance from the center of the outer magnetic ball (magnetic center) to the central dividing line is h. Figure 13 16 In the example, the two outer magnetic balls are made of the same material and have the same size; therefore, initially the two magnetic balls are positioned equidistant from the center dividing line.

[0098] The magnetization of the external magnetic sphere can be derived as the parallel and perpendicular components of the external magnetic field, which can then be used in a combined manner Figure 10-15 The illustrated embodiment and operating principles include parallel and perpendicular components in the same vertical plane.

[0099] According to various aspects of the present invention, the magnetic capsule endoscope can not only move smoothly in the horizontal direction, but also change direction. One method is to synchronously move two external magnetic balls ( Figure 19 Another method is to rotate the two magnetic balls vertically ( Figure 20 ).

[0100] Reference Figure 18-19 , the magnetic capsule endoscope shown in the figure can perform up and down inspections without changing its relative position within the target area, that is, maintaining its position in the x and y directions unchanged. Figure 18 In the figure, the magnetic capsule is initially placed horizontally on the xy plane, with its length aligned with the x direction. The magnetic field directions of the two magnetic balls form an angle of 0-90 degrees with the magnetic field direction of the capsule endoscope. The front end of the magnetic capsule is on its right side. After adjusting the direction, the magnetic capsule can move from left to right as expected. Figure 19 As shown in , when both external magnetic balls move vertically downwards and there is no horizontal movement in the x or y direction, the magnetic capsule will turn into a "looking up" direction while maintaining its original position of the magnetic center in the xy plane. Figure 18 As shown, when the initial position is on the left, if the two external magnetic balls move vertically upward at the same time, the magnetic capsule will turn into a "looking down" direction.

[0101] According to the fifth aspect of the present invention, the direction of the magnetic capsule endoscope can be adjusted by moving two external magnetic balls along the z direction.

[0102] In one embodiment, the magnetic capsule endoscope can be changed from a horizontal orientation to a "heads-up" orientation when both outer magnetic balls are moved downward in the z-direction.

[0103] In an alternative embodiment, the magnetic capsule endoscope can be changed from a horizontal orientation to a "head-down" orientation when both outer magnetic balls are moved upward in the z-direction.

[0104] Figure 18 and Figure 20 A method is described for changing the orientation of a magnetic capsule without changing the positions of its two external magnetic balls. Specifically, when the orientation of either the front or rear end of the capsule changes, the position of its magnetic center remains unchanged. Changing the orientation means only changing the orientation of the capsule, while the position of its magnetic center remains unchanged.

[0105] According to the sixth aspect of the present invention, the direction of the magnetic capsule endoscope can be adjusted by simultaneously rotating the two external magnetic balls around the z-axis or the vertical axis.

[0106] According to aspects of the present invention, in addition to smoothly moving the capsule in the horizontal direction and changing the capsule direction without changing the position, the magnetic capsule endoscope can also be rotated with the capsule position changed or the relative position unchanged.

[0107] If the capsule is close to one magnetic ball and away from the other, the capsule will be primarily controlled by the magnetic ball it is close to (either the upper or lower magnetic ball). In this case, the capsule's control behavior is the same as that of the magnetic ball. This is described in our previously filed patent.

[0108] According to the seventh aspect of the present invention, the magnetic capsule can rotate 0-90 degrees without changing its position. Before rotation, the direction of the magnetic field of the magnetic capsule is perpendicular to the central dividing line, and the directions of the magnetic fields of the two magnetic balls form an angle of 0-90 degrees with the central dividing line; during the rotation of the capsule, only the upper magnetic ball rotates counterclockwise, while the lower magnetic ball remains stationary to maintain the position and orientation of the capsule. In this embodiment, one magnetic ball serves as the main magnetic ball, and the other magnetic ball serves as the secondary magnetic ball. The rotating magnetic field is basically generated by the main magnetic ball. In one embodiment, the magnetic capsule is closer to the main magnetic ball than to the secondary magnetic ball. In another embodiment, when the rear end of the magnetic capsule is anchored on the upper inner wall or lower inner wall of the colon, the rotation angle of the magnetic capsule is limited to 0-90 degrees.

[0109] Figures 21-24Another method for vertically rotating a magnetic capsule endoscope in the xz plane is introduced. The rotation angle of the capsule is 0-360 degrees, and it can rotate both clockwise and counterclockwise. In this embodiment, Figure 21 Shows the starting position of the capsule rotation, Figure 22-23 The position of the capsule in the middle of its rotation is shown. Figure 21 In the starting position shown, the two external magnetic balls are located on opposite sides of the patient. A center dividing line is formed between the two magnetic balls, and the distances from the two balls to the center dividing line are equal. The magnetic field direction of the magnetic capsule is perpendicular to the center dividing line. The magnetic field directions of the two magnetic balls are parallel to and in the same direction as the magnetic field of the magnetic capsule, and are also perpendicular to the center dividing line. If the magnetic balls are rotated clockwise, the capsule will rotate counterclockwise, that is, it will rotate to the left first ( Figure 22 ), then rotate downward ( Figure 23 ), then rotate right ( Figure 24 ). In all movement sequences, the two magnetic balls move simultaneously to obtain a balanced magnetic field with a rotation of 0-360 degrees.

[0110] According to an eighth aspect of the present invention, another method for rotating or vertically rotating the magnetic capsule without changing the position of the magnetic capsule is disclosed, wherein the vertical rotation means rotating in the xz plane. In this embodiment, the two magnetic balls move simultaneously, and the magnetic capsule rotates counterclockwise by 0-360 degrees in response to the vertical rotation of the magnetic balls by 0-360 degrees clockwise. In a first starting position, the magnetization direction of the magnetic capsule is perpendicular to the center dividing line, and the magnetic field directions of the two magnetic balls are parallel to the magnetic field direction of the magnetic capsule, and the magnetic field directions of the magnetic capsule and the magnetic balls are both pointing upward ( Figure 21 ). In the second starting position, the magnetic field direction of the magnetic capsule is parallel to the center dividing line and points to the left, while the magnetic field directions of the two magnetic balls are parallel to the magnetic field direction of the capsule and point to the right ( Figure 22 At the third starting position, the magnetic field direction of the magnetic capsule is perpendicular to the central dividing line, while the magnetic field directions of the two magnetic balls are parallel to the magnetic field direction of the capsule, and the magnetic field directions of the capsule and the magnetic balls are both pointing downwards ( Figure 23 ). In the fourth starting position, the magnetic field direction of the magnetic capsule is parallel to the central dividing line and points to the right, while the magnetic field directions of the two magnetic balls are parallel to the magnetic field direction of the capsule and point to the left ( Figure 24 ).

[0111] Figures 25-26 A method for horizontally rotating the magnetic capsule around its magnetic center in the xy plane is introduced. Figure 25 For top view, Figure 26The figure is a side view. To enable horizontal rotation within the xy plane, the magnetic capsule is placed horizontally in the xy plane. The magnetic fields of the two external magnetic balls are parallel to the magnetic field of the magnetic capsule, and their magnetic fields point to the right, while the magnetic field of the magnetic capsule points to the left. At this point, if the two external magnetic balls are rotated horizontally counterclockwise simultaneously, the magnetic capsule in the xy plane will rotate horizontally in sync with the magnetic balls and in the same direction.

[0112] According to a ninth aspect of the present invention, another method for rotating or horizontally pivoting a magnetic capsule without changing its position is disclosed, wherein horizontal rotation refers to rotation within the xy plane. The magnetic field of the magnetic capsule is directed within the xy plane, and the magnetic dipoles of the magnetic ball and the magnet within the magnetic capsule are directed in opposite directions.

[0113] According to a tenth aspect of the present invention, a method for vertically moving a magnetic capsule along the z direction is disclosed ( Figure 27 and 28 ). Wherein, the magnetic field direction of the magnetic capsule is perpendicular to the center dividing line. In one embodiment, moving the magnetic capsule upward along the z direction is mainly achieved by the upper magnetic ball sucking the magnetic capsule upward. At this time, the upper magnetic ball has the same magnetic field direction as the magnetic capsule. Optionally, the lower magnetic ball can be moved away to reduce its suction force on the magnetic capsule. Alternatively, or preferably, a repulsive magnetic force can be generated by changing the magnetic field direction of the lower magnetic ball to the opposite direction of the magnetic field of the magnetic capsule. Similarly, if the capsule is to be moved downward, it is mainly accomplished by the suction force generated by the lower magnetic ball on the magnetic capsule. At this time, the lower magnetic ball should have the same magnetic field direction as the magnetic capsule. Optionally, the upper magnetic ball can be moved away to reduce its suction force on the magnetic capsule. Alternatively, or preferably, a repulsive magnetic force can be generated by changing the magnetic field direction of the upper magnetic ball to the opposite direction of the magnetic field of the magnetic capsule.

[0114] When the distance between the magnetic capsule and the second magnetic sphere is three times the distance between the capsule and the first magnetic sphere, the first magnetic sphere acts as the primary and dominant magnetic sphere, while the second magnetic sphere acts as the secondary and subordinate magnetic sphere. The subordinate magnetic sphere's influence on the magnetic capsule is negligible. Therefore, when the magnetic capsule moves toward the primary magnetic sphere and the distance between the capsule and the primary magnetic sphere is less than one-third of the distance between the capsule and the subordinate magnetic sphere, there is no need to adjust the position or orientation of the subordinate magnetic sphere to achieve the purpose of repelling the magnetic capsule.

[0115] The above disclosures are all basic movement steps of the magnetic capsule. Different combinations of the basic movement steps can form complex movement sequences within the target area.

[0116] An example system that can be used to perform basic and complex move sequences is Figure 2-7 shown.

[0117] Within the scope of the present invention, an xyz coordinate system is used to determine a position or an orientation. Figure 3 The xyz axis directions of the medical system are shown within the scope of the present invention. This figure is for illustration only and does not limit the present invention. For example, according to Figure 3 ,refer to Figure 2 The x-direction is the direction of movement of the examination table, from back to front; the y-direction is the direction from one bracket to the other, from left to right; and the z-direction is the direction in which the magnetic ball moves towards and away from the patient, from up to down. Horizontal rotation refers to rotation around the z-axis within the xy plane, for example, from left to right when viewed from the front of the device; vertical rotation refers to rotation around the y-axis within the yz plane, for example, from top to bottom when viewed from the front of the device.

[0118] Description of Component Symbols in the Drawings

[0119] Motor 1

[0120] Z-axis upper assembly 1

[0121] Y-axis upper horizontal assembly

[0122] Motor 3

[0123] Magnetic ball 1

[0124] Right bracket assembly

[0125] Right slide rail of examination bed

[0126] Magnetic Ball 2

[0127] Y-axis lower horizontal assembly

[0128] Motor 8

[0129] Z-axis lifting assembly 2

[0130] Motor 6

[0131] base

[0132] Motor 2

[0133] Motor 4

[0134] Motor 5

[0135] Left bracket assembly

[0136] Examination bed

[0137] Examination bed left slide rail

[0138] Motor 9

[0139] Motor 10

[0140] Motor 7

[0141] Detailed description of components and their functions:

[0142] 1. Motor 1:

[0143] Provides the power required to move the upper magnetic ball upward in the Z-axis direction

[0144] 2. Z-axis upper component 1

[0145] The motion control components of the upper magnetic ball along the Z axis are all placed on the upper Z axis component 3. The upper Y axis horizontal component

[0146] The motion control components of the upper magnetic ball along the Y axis are all placed on the upper Y axis component 4, motor 3

[0147] Provides the power required to move the upper magnetic ball upward in the X-axis direction

[0148] 5. Magnetic ball 1

[0149] Magnetic ball located above the examination bed

[0150] 6. Right bracket assembly

[0151] Right bracket and parts installed on the bracket

[0152] 7. Check the right slide rail of the bed

[0153] Right slide rail of examination bed

[0154] 8. Magnetic Ball 2

[0155] Magnetic ball located under the examination table

[0156] 9. Y-axis lower horizontal component

[0157] The motion control components of the lower magnetic ball along the Y axis are all placed on the Y axis lower component 10, the motor 8

[0158] Provides the power required to move the lower magnetic ball in the X-axis direction 11, Z-axis lifting component 2

[0159] The motion control components of the lower magnetic ball along the Z axis are all placed on the Z axis lower component 12, motor 6

[0160] Provides the power required to move the lower magnetic ball in the Z-axis direction 13. Base

[0161] Equipment base placed on the ground

[0162] 14. Motor 2

[0163] Provides the power 15 required to move the upper magnetic ball in the Y-axis direction, motor 4

[0164] Provides the power 16 required to rotate the upper magnetic ball around the Z axis in the horizontal plane, motor 5

[0165] Provides the power required to rotate the upper magnetic ball around the Z axis in the vertical plane 17. Left bracket assembly

[0166] Left device bracket

[0167] 18. Examination bed

[0168] Provides support for patients and transports them to / from the examination area. Bed 19, left slide rail for the examination bed

[0169] Check the slide rail on the left side of the bed

[0170] 20. Motor 9

[0171] Provides the power 21 required to rotate the lower magnetic ball around the Z axis in the vertical plane, motor 10

[0172] Provides the power 22 required to rotate the lower magnetic ball around the Z axis in the horizontal plane, motor 7

[0173] Providing the power required to move the lower magnetic ball in the Y-axis direction References in this specification to "one embodiment", "embodiment", "exemplary embodiment", etc. indicate that the specific function, structure or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention. The appearance of these phrases in different places in the specification does not necessarily refer to the same embodiment. In addition, when describing a specific function, structure or characteristic in conjunction with any embodiment, it is considered to be within the scope of the authority of those skilled in the art to describe these functions, structures or characteristics in conjunction with other embodiments. In addition, for ease of understanding, certain method steps may be described separately; however, these separately described steps should not be interpreted as an order that must be relied upon during execution. In other words, some steps can be performed simultaneously in other orders. In addition, the embodiments of the present invention exemplify various methods, and the exemplary implementation methods can be used in corresponding device embodiments. However, these implementation methods are not used to limit the scope of the present invention.

[0174] Although several embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that modifications to these embodiments may be made without departing from the principles and spirit of the present invention. Therefore, the above embodiments should be considered in all respects for illustrative purposes and not to limit the scope of the present invention. Therefore, the scope of the present invention is defined by the appended claims, rather than the foregoing description. All modifications within the meaning and scope equivalent to the claims are within the scope of the present invention. The term "preferably" as used herein is non-exclusive and means "preferably, but not limited thereto". The terms in the claims should have the broadest interpretation consistent with the basic concept of the invention as set forth in the description. For example, the terms "coupled" and "connected" (and their derivatives) are used to indicate direct and indirect connection / coupling. For another example, "having" and "including", and their derivatives and similar transition terms or phrases are synonymous with "including" (i.e., these are considered "open" terms) - only the phrases "consisting of..." and "consisting essentially of..." are considered "closed".

Claims

1. A system for manipulating a magnetic capsule, for manipulating a magnetic capsule through a target area, the system comprising: introducing a magnetic capsule into a target area, the magnetic capsule having a longitudinal direction, and a magnetic dipole disposed within the magnetic capsule having a magnetization direction parallel to the longitudinal direction of the magnetic capsule, the longitudinal direction being the longest dimension of the magnetic capsule; An external magnetic control system is provided with a plurality of magnetic field generating devices, wherein the plurality of magnetic field generating devices include two external magnetic balls; Using the external magnetic control system to control the external magnetic ball so that its magnetic field direction is parallel to the magnetization direction of the magnetic capsule, and to move the external magnetic ball along a first movement direction parallel to the magnetic field direction of the external magnetic ball, thereby moving the magnetic capsule in the first movement direction; generating an external combined magnetic field to provide a magnetic force required to move the magnetic capsule in the first direction of motion; The magnetic capsule extends outward in the longitudinal direction to form a central dividing line, the two external magnetic balls are respectively located on both sides of the central dividing line, and the projection positions of the external magnetic balls on the central dividing line are located in front of the magnetic capsule; The two outer magnetic spheres have the same magnetic dipole and size, and the distances between the two outer magnetic spheres and the central dividing line are equal; The magnetic centers of the two external magnetic balls and the magnetic center of the magnetic capsule are located in the same vertical plane.

2. The system according to claim 1, wherein: The magnetization direction of the magnetic capsule, the combined magnetic field direction (B) of the two external magnetic balls, and the magnetic force direction F acting on the magnetic capsule are parallel to each other.

3. The system according to claim 1, wherein: The magnetic field direction of the external magnetic ball is opposite to the magnetization direction of the magnetic capsule.

4. The system according to claim 1 or 3, characterized in that: The magnetization direction of the magnetic capsule is the same as the movement direction of the magnetic capsule, and the magnetic field direction of the external magnetic ball is opposite to the movement direction of the magnetic capsule; or the magnetization direction of the magnetic capsule is opposite to the movement direction of the magnetic capsule, and the magnetic field direction of the external magnetic ball is the same as the movement direction of the magnetic capsule.

5. The system according to claim 1, wherein: The distance from the magnetic center of the magnetic capsule to the projection line connecting the centers of the two external magnetic spheres is x; the distance from the center of each external magnetic sphere to the center dividing line is h; When the distance x is greater than 0.5h, the direction of the magnetic capsule is changed to make the magnetic capsule move smoothly.

6. The system according to claim 5, characterized in that: When the distance x is 0.26h, the optimal movement area with the strongest magnetic force appears.

7. The system according to claim 1, wherein: The magnetic moment M of the external magnetic sphere is 25-25000A / cm 2 The magnetic moment m of the magnet in the magnetic capsule is 0.02-2A / cm 2 .

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