Wireless powered system for a capsule endoscope

Abstract

The application provides a wireless energy supply system of a capsule endoscope, comprising a three-degree-of-freedom translational base, a one-dimensional electromagnetic transmitting pair and the capsule endoscope. The application provides a wireless energy supply method, which ingeniously combines wireless energy supply and a moving magnetic control, so that wireless energy supply can be continuously carried out during the diagnosis and treatment of the capsule endoscope. The wireless energy supply is realized by the one-dimensional electromagnetic transmitting pair and a one-dimensional self-accurate electromagnetic receiving pair, and the structure is simple and easy to control. In the application, the one-dimensional electromagnetic transmitting pair and the one-dimensional self-accurate electromagnetic receiving pair can always face each other during wireless energy supply, are not affected by the posture deflection of the capsule endoscope, and the energy transmission is stable.

Description

Technical Field

[0001] This invention relates to the fields of medical devices and wireless power transmission, specifically to a wireless power supply system for a capsule endoscope. Background Technology

[0002] Currently, gastric cancer ranks second among all malignant tumors in my country, and early screening for gastric cancer can significantly improve patient survival rates. Using capsule endoscopy to examine the stomach, instead of traditional gastroscopy, offers advantages such as requiring no anesthesia, no intubation, being painless and non-invasive, and eliminating the risk of cross-infection, making it a relatively advanced diagnostic method.

[0003] Capsule endoscopes are typically powered by miniature batteries. Due to the limitations of these batteries, current capsule endoscopes suffer from short operating times, low image transmission quality, and an inability to support excessively power-consuming components. Research and design for wireless power supply for capsule endoscopes can effectively address these drawbacks. Existing feasible wireless power supply methods for capsule endoscopes mainly include three-dimensional reception and one-dimensional transmission, one-dimensional reception and three-dimensional transmission, and one-dimensional reception and one-dimensional tracking transmission.

[0004] Chinese patent document CN103705200 discloses a wireless power supply system that incorporates a three-dimensional receiving coil inside a capsule and a one-dimensional transmitting coil outside. In this wireless power supply mode, a coil needs to be wound in each of the three dimensions, resulting in a large receiving coil volume, which is detrimental to capsule miniaturization. Furthermore, changes in the capsule endoscope's orientation also affect the energy transmission efficiency of the wireless power supply, leading to unstable energy transmission.

[0005] Chinese patent document CN115553695 discloses a wireless power supply system that incorporates a one-dimensional receiving coil inside a capsule endoscope and a three-dimensional transmitting coil externally. In this wireless power supply mode, an attitude sensor needs to be installed inside the capsule endoscope to adjust the direction of the alternating magnetic field generated by the three-dimensional transmitting coil by detecting the capsule's attitude in real time. However, the mutual inductance of the external three-dimensional transmitting coil is unavoidable, leading to heat generation issues.

[0006] Chinese patent document CN110380523 discloses a wireless power supply system that incorporates a one-dimensional receiving coil inside a capsule endoscope and a one-dimensional tracking transmitting coil externally. This system uses a motion device to continuously change the position and orientation of the external one-dimensional transmitting coil, maintaining coupling with the receiving coil by observing whether image quality improves. However, because the position and orientation of the capsule inside the body are unknown, the optimal position and orientation of the external transmitting coil cannot be directly determined, requiring manual adjustment by the physician, resulting in poor sensitivity and accuracy. Summary of the Invention

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention aims to provide a wireless power supply system for a capsule endoscope, which combines wireless power supply with motion magnetic control so that the wireless power supply is not affected by the posture deflection of the capsule endoscope, thereby ensuring stable energy transmission.

[0008] The objective of this invention is achieved through the following technical solution: This invention provides a wireless power supply system for a capsule endoscope, which includes a three-degree-of-freedom translational base, a one-dimensional electromagnetic transmitter pair, and a capsule endoscope containing a one-dimensional self-collimating electromagnetic receiver pair. The one-dimensional electromagnetic transmitter pair is mounted on the three-degree-of-freedom translational base, and wireless power supply is achieved through the one-dimensional electromagnetic transmitter pair and the one-dimensional self-collimating electromagnetic receiver pair. Moreover, the one-dimensional electromagnetic transmitter pair and the one-dimensional self-collimating electromagnetic receiver pair can always be aligned during wireless power supply and are not affected by the attitude deflection of the capsule endoscope.

[0009] This invention provides a wireless power supply system for capsule endoscopes, which ingeniously combines wireless power supply with motion magnetic control. Wireless power supply is achieved through a one-dimensional electromagnetic transmitter pair and a one-dimensional self-aligning electromagnetic receiver pair, and has the advantages of simple structure, easy control and stable energy transmission.

[0010] Furthermore, the three-degree-of-freedom translational base includes a first moving part that drives the one-dimensional electromagnetic transmitter pair to move back and forth, a second moving part that moves left and right, and a third moving part that moves up and down. The third moving part is mounted on the second moving part, and the second moving part can drive the third moving part to move back and forth along the X-axis via a motor and a guide rail. The second moving part is mounted on the first moving part, and the first moving part can drive the second moving part to move left and right along the Y-axis via a motor and a guide rail. The one-dimensional electromagnetic transmitter pair is mounted on the third moving part, and the third moving part can drive the one-dimensional electromagnetic transmitter pair to move up and down along the Z-axis via a motor and a guide rail.

[0011] Furthermore, the three-degree-of-freedom translational base can drive the one-dimensional electromagnetic transmitter to perform three-degree-of-freedom translation along the X-axis, Y-axis, and Z-axis.

[0012] Furthermore, the one-dimensional electromagnetic transmitting pair includes two sets of opposing one-dimensional transmitting coils and a connecting bracket. A pair of one-dimensional transmitting coils are installed at both ends of the connecting bracket. The coil axes of the one-dimensional transmitting coil pair are all along the Z-axis direction. When a direct current is applied to the one-dimensional transmitting coil pair, a magnetic field along the Z-axis direction will be generated on the axis.

[0013] Furthermore, the capsule endoscope includes a capsule shell, a photothermal therapy module disposed within the capsule shell, capable of capturing real-time images of the gastric wall and performing photothermal therapy on lesions using near-infrared light of a specific wavelength; a wireless communication module disposed within the capsule shell for receiving and transmitting information; a main control module disposed within the capsule shell, serving as the control center of the capsule endoscope; a permanent magnet electromagnetic module disposed within the capsule shell, enabling pose control and wireless power supply of the capsule endoscope in conjunction with an external magnetic field; a posture adjustment module disposed within the capsule shell for controlling the posture deflection of the permanent magnet electromagnetic module; and a rectifier module disposed within the capsule shell for rectifying and filtering the current directly obtained from wireless power supply.

[0014] Furthermore, the permanent magnet electromagnetic module comprises a cylindrical permanent magnet, a one-dimensional self-collimating electromagnetic receiver pair, a cylindrical magnetic core, and a plastic shell. The cylindrical permanent magnet is made of neodymium iron boron strong magnetic material and is magnetized along its axial direction. The one-dimensional self-collimating electromagnetic receiver pair consists of two sets of opposing one-dimensional receiving coils. The cylindrical magnetic core is made of multilayer silicon steel to improve energy reception efficiency and reduce eddy currents. The plastic shell is made of a polymer material and is used to fix the cylindrical permanent magnet, the one-dimensional self-collimating electromagnetic receiver pair, and the cylindrical magnetic core.

[0015] Furthermore, the axis of the cylindrical permanent magnet, the axis of the one-dimensional self-collimating electromagnetic receiver pair, the axis of the cylindrical magnetic core, and the axis of the plastic shell always coincide.

[0016] Furthermore, the attitude adjustment module includes a first micro motor, a second micro motor, a first synchronous belt, a second synchronous belt, a first rotating shaft, a second rotating shaft, a third rotating shaft, a bevel gear set, a first rotating collar, and a second rotating collar. The first micro motor drives the first rotating shaft to rotate via the first synchronous belt. The first rotating shaft is fixedly connected to the first rotating collar, allowing it to rotate together with the first rotating collar. The second micro motor drives the second rotating shaft to rotate via the second synchronous belt. The second rotating shaft is hinged to the first rotating collar, ensuring it does not affect the movement of the first rotating collar. The bevel gear set includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly connected to the second rotating shaft and rotates synchronously with it. The driven bevel gear meshes with the driving bevel gear, allowing them to rotate together. The third rotating shaft is fixedly connected to the driven bevel gear and rotates around its axis when driven by the driven bevel gear. The third rotating shaft is connected to the first rotating collar via a shaft hole, and the third rotating shaft revolves around the axis of the first rotating collar along with the first rotating collar. The second rotating collar is externally fixed to the third rotating shaft and internally fixed to the permanent magnet electromagnetic module.

[0017] Furthermore, the first micro motor and the second micro motor, through rotational coordination, can drive the permanent magnet electromagnetic module to rotate around the first axis and the second axis.

[0018] Furthermore, the first rotating shaft and the second rotating shaft are axially aligned and their axes coincide with the first axis.

[0019] Furthermore, the second axis coincides with the axis of the third rotation axis and is always perpendicular to the first axis. The second axis can rotate around the first axis following the third rotation axis.

[0020] Furthermore, the attitude adjustment module enables control of two attitude degrees of freedom of the permanent magnet electromagnetic module, allowing the axis of the permanent magnet electromagnetic module to deviate from its initial position by any angle.

[0021] Furthermore, under the influence of the external magnetic field in the Z-axis direction generated by the one-dimensional electromagnetic transmitter pair, the magnetic pole orientation of the cylindrical permanent magnet will always remain consistent with the Z-axis direction, thereby ensuring that the axial direction of the permanent magnet electromagnetic module also remains consistent with the Z-axis direction. Initially, the axis of the capsule shell coincides with the axis of the permanent magnet electromagnetic module, remaining upright under the influence of the strong magnetic field in the Z-axis direction. After power supply to the one-dimensional electromagnetic transmitter pair is stopped, the external magnetic field disappears, and the first and second micro-motors drive the axis of the permanent magnet electromagnetic module to deflect relative to the axis of the capsule shell by a preset angle. The first and second micro-motors stop working, regenerating a strong magnetic field in the Z-axis direction, causing the axis of the permanent magnet electromagnetic module to deflect back to the vertical direction, thus driving the capsule shell to deflect by the preset angle, thereby completing attitude control.

[0022] Furthermore, in the horizontal direction, the magnetic field generated by the one-dimensional electromagnetic emission pair is characterized by a strong center and a weak periphery. Under the influence of the magnetic field, the cylindrical permanent magnet will always remain stable in the exact center of the magnetic field, thus the horizontal position of the capsule endoscope can be controlled by the first and second moving parts. In the vertical direction, the magnetic field generated by the one-dimensional electromagnetic emission pair is characterized by a weak center and a strong end. In the vertical direction, closed-loop control should be adopted, and the vertical position of the capsule endoscope can be controlled by changing the overall height of the one-dimensional electromagnetic emission pair by the third moving part or by adjusting the current intensity flowing into the one-dimensional electromagnetic emission pair.

[0023] In one embodiment of the present invention, a wireless power supply method for a capsule endoscope is provided. By applying a DC current with fluctuating amplitude to the one-dimensional electromagnetic transmitter, an external magnetic field with constant direction and varying intensity can be generated in the Z-axis direction. Under the action of the external magnetic field in the Z-axis direction, the magnetic pole orientation of the cylindrical permanent magnet will always remain consistent with the Z-axis direction, thereby ensuring that the axial direction of the one-dimensional self-collimating electromagnetic receiver pair also always remains consistent with the Z-axis direction. Under the action of the positive external magnetic field with constant direction and varying intensity, an induced current will be generated in the one-dimensional receiving coil inside the one-dimensional self-collimating electromagnetic receiver pair. The induced current generated by the one-dimensional self-collimating electromagnetic receiver pair can then power the capsule endoscope after being rectified and filtered by the rectifier module.

[0024] Furthermore, the wireless power supply method cleverly combines wireless power supply with motion magnetic control, enabling continuous wireless power supply during the capsule endoscopy diagnosis and treatment process.

[0025] Furthermore, during wireless power supply, the one-dimensional electromagnetic transmitting pair and the one-dimensional self-aligning electromagnetic receiving pair are always aligned, unaffected by the attitude deflection of the capsule endoscope, ensuring stable energy transmission.

[0026] Furthermore, the present invention achieves wireless power supply through the one-dimensional electromagnetic transmitting pair and the one-dimensional self-aligned electromagnetic receiving pair, which has the advantages of simple structure and easy control.

[0027] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0028] Beneficial effects of the present invention

[0029] Compared with existing technologies, the advantages of this invention lie in its ingenious combination of wireless power supply and motion magnetic control through structural and methodological design, enabling continuous wireless power supply during capsule endoscopy. This invention achieves wireless power supply through a one-dimensional electromagnetic transmitting pair and a one-dimensional self-aligning electromagnetic receiving pair, resulting in a simple and easily controllable structure. Under this design, the one-dimensional electromagnetic transmitting pair and the one-dimensional self-aligning electromagnetic receiving pair remain aligned during wireless power supply, unaffected by the capsule endoscope's posture deflection, ensuring stable energy transmission. Attached Figure Description

[0030] Figure 1 A schematic diagram illustrating the use of a preferred embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the front cross-section of a capsule endoscope according to a preferred embodiment of the present invention;

[0032] Figure 3 : A schematic diagram of the right-side cross-section of a capsule endoscope according to a preferred embodiment of the present invention;

[0033] Figure 4 A top view schematic diagram of a capsule endoscope according to a preferred embodiment of the present invention;

[0034] Figure 5 : An exploded view of the attitude adjustment module of a preferred embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a permanent magnet electromagnetic module according to a preferred embodiment of the present invention;

[0036] Figure 7 : An exploded view of a permanent magnet electromagnetic module according to a preferred embodiment of the present invention;

[0037] Figure 8 A schematic diagram of wireless power supply according to a preferred embodiment of the present invention;

[0038] Explanation of the labels in the diagram:

[0039] 1—Three-degree-of-freedom translational base;

[0040] 1-1 – First moving part; 1-2 – Second moving part; 1-3 – Third moving part;

[0041] 2—One-dimensional electromagnetic emission pair;

[0042] 2-1 — One-dimensional transmitting coil pair; 2-2 — Connecting bracket;

[0043] 3—Capsule endoscopy;

[0044] 3-1—Capsule shell; 3-2—Photothermal therapy module; 3-3—Wireless communication module;

[0045] 3-4 – Main control module; 3-5 – Rectifier module;

[0046] 3-6 — Attitude Adjustment Module;

[0047] 3-6-1 – First micro motor; 3-6-2 – Second micro motor;

[0048] 3-6-3 – First synchronous belt; 3-6-4 – Second synchronous belt;

[0049] 3-6-5 – First axis of rotation; 3-6-6 – Second axis of rotation; 3-6-7 – Third axis of rotation;

[0050] 3-6-8 — Bevel gear set;

[0051] 3-6-9 – First rotating collar; 3-6-10 – Second rotating collar;

[0052] 3-7 — Permanent Magnet Electromagnetic Module;

[0053] 3-7-1 — Cylindrical permanent magnet; 3-7-2 — Cylindrical magnetic core;

[0054] 3-7-3—Plastic casing; 3-7-4—One-dimensional self-aligning electromagnetic receiver pair;

[0055] 3-8 – First axis, 3-9 – Second axis. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0057] According to one embodiment of the present invention, a wireless power supply system for a capsule endoscope includes a three-degree-of-freedom translational base 1, a one-dimensional electromagnetic transmitter pair 2, and a capsule endoscope 3.

[0058] like Figure 1 As shown, the three-degree-of-freedom translational base 1 includes a first moving part 1-1, a second moving part 1-2, and a third moving part 1-3; a one-dimensional electromagnetic transmitter pair 2 is mounted on the third moving part 1-3, and the third moving part 1-3 can drive the one-dimensional electromagnetic transmitter pair 2 to move up and down along the Z-axis via a motor and a guide rail; the third moving part 1-3 is mounted on the second moving part 1-2, and the second moving part 1-2 can drive the third moving part 1-3 to move back and forth along the X-axis via a motor and a guide rail; the second moving part 1-2 is mounted on the first moving part 1-1, and the first moving part 1-1 can drive the second moving part 1-2 to move left and right along the Y-axis via a motor and a guide rail.

[0059] like Figure 1 The three-degree-of-freedom translational base 1 shown can drive the one-dimensional electromagnetic transmitter 2 to perform three-degree-of-freedom translation along the X-axis, Y-axis and Z-axis.

[0060] like Figure 1 As shown, the one-dimensional electromagnetic transmitter pair 2 includes two sets of opposing one-dimensional transmitting coils 2-1 and a connecting bracket 2-2. The one-dimensional transmitting coils 2-1 are mounted on the connecting bracket 2-2, and the coil axes are all along the Z-axis. When a direct current is passed through the one-dimensional transmitting coil 2-1, a magnetic field along the Z-axis is generated on its axis.

[0061] like Figure 2 , Figure 3 and Figure 4As shown, the capsule endoscope 3 includes a capsule shell 3-1, and inside the capsule shell 3-1, from top to bottom, are arranged a photothermal therapy module 3-2, a wireless communication module 3-3, a main control module 3-4, a rectifier module 3-5, an attitude adjustment module 3-6, and a permanent magnet electromagnetic module 3-7.

[0062] The capsule shell 3-1 is made of a biocompatible polymer material that is non-toxic, harmless, acid-resistant, pressure-resistant, and has no adverse effects on the human body. The two ends of the capsule shell 3-1 are hemispherical, and the middle part is cylindrical. The overall shape is capsule-shaped, which is suitable for human swallowing.

[0063] like Figure 2 , Figure 3 and Figure 4 As shown, the photothermal diagnostic module 3-2 is located at the hemispherical end of the capsule shell 3-1, and consists of a lens group, a CMOS camera chip, and a laser light source and LED light source arranged in a ring at intervals. During examination, only the LED light source needs to be activated to illuminate the stomach wall in the camera's field of view; after the stomach wall image is converged by the lens group, the CMOS camera chip converts the light signal into an electrical signal. After confirming the location of the lesion, the laser light source can be activated to locally heat the lesion, killing the diseased tissue and cells.

[0064] like Figure 2 and Figure 3 As shown, the wireless communication module 3-3 is located next to the photothermal therapy module 3-2 and is mainly responsible for wireless communication with the host computer. While receiving parameter commands from the external host computer, the wireless communication module 3-3 compresses the image signals generated by the photothermal therapy module 3-2 and sends them to the external host computer in real time.

[0065] like Figure 2 and Figure 3 As shown, the main control module 3-4 is closely attached to the wireless communication module 3-3 and contains a microcontroller. It is the control center of the capsule endoscope 3. The main control module 3-4 will control the working status of the photothermal therapy module 3-2 and the posture adjustment module 3-6 according to the parameter instructions of the external host computer.

[0066] like Figure 2 and Figure 3 As shown, the rectifier module 3-5 is located directly below the main control module 3-4 and is installed on the upper partition 3-1-1 inside the capsule shell 3-1. The rectifier module 3-5 uses a rectifier and filter circuit to convert the coarse electricity obtained from wireless power supply into stable fine electricity and power the entire capsule endoscope 3.

[0067] like Figure 6 , Figure 7As shown, the permanent magnet electromagnetic module 3-7 includes a cylindrical permanent magnet 3-7-1, a cylindrical magnetic core 3-7-2, a plastic shell 3-7-3, and a one-dimensional self-aligning electromagnetic receiver pair 3-7-4. The cylindrical permanent magnet 3-7-1 is made of neodymium iron boron strong magnetic material and is magnetized along the axial direction. The cylindrical magnetic core 3-7-2 is made of multilayer silicon steel to improve energy reception efficiency and reduce eddy currents. The one-dimensional self-aligning electromagnetic receiver pair 3-7-4 consists of two sets of opposing one-dimensional receiving coils. The plastic shell 3-7-3 is made of polymer material and is used to fix the cylindrical permanent magnet 3-7-1, the cylindrical magnetic core 3-7-2, and the one-dimensional self-aligning electromagnetic receiver pair 3-7-4. During design and assembly, the axes of the cylindrical permanent magnet 3-7-1, the cylindrical magnetic core 3-7-2, the one-dimensional self-aligning electromagnetic receiver pair 3-7-4, and the plastic shell 3-7-3 must always coincide.

[0068] like Figure 2 , Figure 3 and Figure 5 As shown, the attitude adjustment module 3-6 consists of a first micro motor 3-6-1, a second micro motor 3-6-2, a first synchronous belt 3-6-3, a second synchronous belt 3-6-4, a first rotating shaft 3-6-5, a second rotating shaft 3-6-6, a third rotating shaft 3-6-7, a bevel gear set 3-6-8, a first rotating collar 3-6-9, and a second rotating collar 3-6-10. The first micro motor 3-6-1 and the second micro motor 3-6-2 are both fixed to the lower partition 3-1-2 inside the capsule shell 3-1, and are equipped with motor magnetic shielding covers to prevent the motor's magnetic field from interfering with the control of the permanent magnet electromagnetic module 3-7. The first synchronous belt 3-6-3 and the second synchronous belt 3-6-4 are connected to the lower first rotating shaft 3-6-5 and the second rotating shaft 3-6-6 respectively through openings on both sides of the lower partition. The first micro motor 3-6-1 can drive the first rotating shaft 3-6-5 to rotate via the first synchronous belt 3-6-3, and the second micro motor 3-6-2 can drive the second rotating shaft 3-6-6 to rotate via the second synchronous belt 3-6-4. One end of the first rotating shaft 3-6-5 is clearance-fitted with the inner wall shaft hole of the capsule shell 3-1, and the other end is fixedly connected to the first rotating collar 3-6-9, which can drive the first rotating collar 3-6-9 to rotate together. One end of the second rotating shaft 3-6-6 is clearance-fitted with the inner wall shaft hole of the capsule shell 3-1, and the other end is hemispherical, forming a hinge with the spherical groove on the first rotating collar 3-6-9. The second rotating shaft 3-6-6 only provides support for the first rotating collar 3-6-9 and does not affect the rotational movement of the first rotating collar 3-6-9.

[0069] like Figure 2 , Figure 3 and Figure 5As shown, the bevel gear set 3-6-8 includes a driving bevel gear and a driven bevel gear. The driving bevel gear is interference-fitted with the second rotating shaft 3-6-6 through a shaft hole and can rotate synchronously with the second rotating shaft 3-6-6. The driving bevel gear is designed in a bowl shape to match the hemispherical bottom of the capsule shell 3-1, making the structure more compact. The driven bevel gear meshes with the driving bevel gear and can rotate in cooperation. The third rotating shaft 3-6-7 is interference-fitted with the driven bevel gear through a shaft hole and will rotate around its axis when driven by the driven bevel gear. The third rotating shaft 3-6-7 is clearance-fitted with the first rotating collar 3-6-9 through a shaft hole, and the third rotating shaft 3-6-7 will revolve around the first axis 3-8 along with the first rotating collar 3-6-9. The outer wall of the second rotating collar 3-6-10 is interference-fitted with the third rotating shaft 3-6-7 through the shaft hole, and the inner wall of the second rotating collar 3-6-10 is interference-fitted with the permanent magnet electromagnetic module 3-7. The second rotating collar 3-6-10 and the permanent magnet electromagnetic module 3-7 will rotate synchronously with the third rotating shaft 3-6-7.

[0070] In this embodiment of the invention, the first rotating shaft 3-6-5 and the second rotating shaft 3-6-6 are axially aligned and their axes coincide with the first axis 3-8. The second axis 3-9 coincides with the axis of the third rotating shaft 3-6-7 and is always perpendicular to the first axis 3-8. The second axis 3-9 will rotate around the first axis 3-8 following the third rotating shaft 3-6-7. The first axis 3-8 and the second axis 3-9 intersect at the geometric center of the permanent magnet electromagnetic module 3-7, ensuring that the central position of the permanent magnet electromagnetic module 3-7 does not change during rotation.

[0071] In this embodiment of the invention, when only the first micro motor 3-6-1 operates and controls the permanent magnet electromagnetic module 3-7 to rotate around the first axis 3-8, the driven bevel gear of the bevel gear set 3-6-8 will also rotate around the first axis 3-8, while the driving bevel gear will not rotate. This will cause the driven bevel gear to drive the third rotating shaft 3-6-7 to rotate, thereby causing the permanent magnet electromagnetic module 3-7 to also rotate around the second axis 3-9. To ensure that the permanent magnet electromagnetic module 3-7 rotates only around the first axis 3-8, the second micro motor 3-6-2 needs to work in coordination and rotate at a matched speed.

[0072] In this embodiment of the invention, the rotation of the permanent magnet electromagnetic module 3-7 around the first axis 3-8 is not affected by the control of the second micro motor 3-6-2. By reasonably configuring the rotational speeds of the first micro motor 3-6-1 and the second micro motor 3-6-2, the permanent magnet electromagnetic module 3-7 can rotate simultaneously around the first axis 3-8 and the second axis 3-9.

[0073] In this embodiment of the invention, the attitude adjustment module 3-6 realizes the control of two attitude degrees of freedom of the permanent magnet electromagnetic module 3-7, which enables the axis of the permanent magnet electromagnetic module 3-7 to deflect at any angle relative to the initial state.

[0074] In this embodiment of the invention, due to the external magnetic field in the Z-axis direction generated by the one-dimensional electromagnetic transmitter pair 2, the magnetic pole orientation of the cylindrical permanent magnet 3-7-1 will always remain consistent with the Z-axis direction, thereby ensuring that the axial direction of the permanent magnet electromagnetic module 3-7 also remains consistent with the Z-axis direction. Initially, the axis of the capsule shell 3-1 coincides with the axis of the permanent magnet electromagnetic module 3-7, remaining upright under the influence of the strong magnetic field in the Z-axis direction. After power is cut off to the one-dimensional electromagnetic transmitter pair 2, the external magnetic field disappears, and the axis of the permanent magnet electromagnetic module 3-7 is deflected relative to the axis of the capsule shell 3-1 by a preset angle via the first micro motor 3-6-1 and the second micro motor 3-6-2. The first micro motor 3-6-1 and the second micro motor 3-6-1 stop working, regenerating the strong magnetic field in the Z-axis direction, causing the axis of the permanent magnet electromagnetic module 3-7 to deflect back to the vertical direction, thus driving the capsule shell 3-1 to deflect by the preset angle, thereby completing attitude control.

[0075] In this embodiment of the invention, in the horizontal direction, the magnetic field generated by the one-dimensional electromagnetic transmitter pair 2 is characterized by a strong center and a weak periphery. Under the influence of the magnetic field, the cylindrical permanent magnet 3-7-1 will always remain stable in the exact center of the magnetic field, thus the horizontal position of the capsule endoscope 3 can be controlled by the first moving part 1-1 and the second moving part 1-2. In the vertical direction, the magnetic field generated by the one-dimensional electromagnetic transmitter pair 2 is characterized by a weak center and a strong end. In the vertical direction, closed-loop control should be adopted, and the vertical position of the capsule endoscope 3 can be controlled by changing the overall height of the one-dimensional electromagnetic transmitter pair 2 by the third moving part 1-3 or by adjusting the current intensity flowing into the one-dimensional electromagnetic transmitter pair 2.

[0076] In this embodiment of the invention, a wireless power supply method for a capsule endoscope is provided. For example... Figure 8 As shown, by applying a DC current with fluctuating amplitude to the one-dimensional electromagnetic transmitter 2, a constant-direction, varying-intensity external magnetic field can be generated in the Z-axis direction. Under the influence of the external magnetic field in the Z-axis direction, the magnetic pole orientation of the cylindrical permanent magnet 3-7-1 will always be consistent with the Z-axis direction, thus ensuring that the axial direction of the one-dimensional self-collimating electromagnetic receiver 3-7-4 is also consistent with the Z-axis direction. Under the influence of the constant-direction, varying-intensity positive external magnetic field, an induced current will be generated in the one-dimensional receiving coil inside the one-dimensional self-collimating electromagnetic receiver 3-7-4. The induced current generated by the one-dimensional self-collimating electromagnetic receiver 3-7-4, after being rectified and filtered by the rectifier module 3-5, can then power the capsule endoscope 3.

[0077] In this embodiment of the invention, the wireless power supply method cleverly combines wireless power supply with motion magnetic control, enabling the capsule endoscope 3 to continuously provide wireless power during the diagnosis and treatment process.

[0078] In this embodiment of the invention, when wireless power is supplied, the one-dimensional electromagnetic transmitter pair 2 and the one-dimensional self-aligning electromagnetic receiver pair 3-7-4 are always aligned and are not affected by the attitude deflection of the capsule endoscope 3, so the energy transmission is stable.

[0079] In this embodiment of the invention, wireless power supply is achieved through a one-dimensional electromagnetic transmitter pair 2 and a one-dimensional self-aligning electromagnetic receiver pair 3-7-4, which has the advantages of simple structure and easy control.

Claims

1. A wireless power supply system for a capsule endoscope, used for wireless power supply of a capsule endoscope, characterized in that, The system includes a three-degree-of-freedom translational base, a one-dimensional electromagnetic transmitter pair (2), and a capsule endoscope (3) containing a one-dimensional self-collimating electromagnetic receiver pair. The one-dimensional electromagnetic transmitter pair is mounted on the three-degree-of-freedom translational base, which drives the one-dimensional electromagnetic transmitter pair to perform three-degree-of-freedom translational motion along the X, Y, and Z axes. Wireless power supply is achieved through the one-dimensional electromagnetic transmitter pair and the one-dimensional self-collimating electromagnetic receiver pair. Furthermore, the one-dimensional electromagnetic transmitter pair and the one-dimensional self-collimating electromagnetic receiver pair remain aligned during wireless power supply, unaffected by the capsule endoscope's attitude deflection. The permanent magnet electromagnetic module (3-7) with a one-dimensional self-aligning electromagnetic receiver pair can realize the pose control and wireless power supply of the capsule endoscope (3) under the cooperation of an external magnetic field; The attitude adjustment module (3-6) is used to control the attitude deflection of the permanent magnet electromagnetic module (3-7); The attitude adjustment module (3-6) includes a first micro motor (3-6-1), a second micro motor (3-6-2), a first synchronous belt (3-6-3), a second synchronous belt (3-6-4), a first rotating shaft (3-6-5), a second rotating shaft (3-6-6), a third rotating shaft (3-6-7), a bevel gear set (3-6-8), a first rotating collar (3-6-9), and a second rotating collar (3-6-10). The first micro motor (3-6-1) and the second micro motor (3-6-2) are located on the lower partition (3-1-2); The first micro motor (3-6-1) drives the first rotating shaft (3-6-5) to rotate via the first synchronous belt (3-6-3). The first rotating shaft (3-6-5) is fixedly connected to the first rotating collar (3-6-9), causing the first rotating collar (3-6-9) to rotate together. The second micro motor (3-6-2) drives the second rotating shaft (3-6-6) to rotate via the second synchronous belt (3-6-4). The second rotating shaft (3-6-6) is hinged to the first rotating collar (3-6-9) and will not affect the movement of the first rotating collar. The bevel gear set (3-6-8) includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly connected to the second rotating shaft (3-6-6) and can rotate synchronously with the second rotating shaft. The driven bevel gear meshes with the driving bevel gear and can rotate in cooperation. The third rotating shaft (3-6-7) is fixedly connected to the driven bevel gear and will rotate around its axis when driven by the driven bevel gear. The third rotating shaft (3-6-7) is connected to the first rotating collar (3-6-9) through a shaft hole. The third rotating shaft (3-6-7) will revolve around the axis of the first rotating shaft (3-6-5) along with the first rotating collar (3-6-9). The second rotating collar (3-6-10) is fixedly connected to the third rotating shaft (3-6-7) externally and to the permanent magnet electromagnetic module (3-7) internally. The first micro motor (3-6-1) and the second micro motor (3-6-2) drive the permanent magnet electromagnetic module ((3-7)) to rotate around the first axis (3-8) and the second axis (3-9) through rotational coordination; The first rotating shaft (3-6-5) and the second rotating shaft (3-6-6) are axially aligned and their axes coincide with the first axis (3-8); The third rotation axis (3-6-7) coincides with the axis of the second axis (3-9) and is always perpendicular to the first axis (3-8). The second axis (3-9) can follow the third rotation axis (3-6-7) to rotate around the first axis (3-8).

2. The wireless power supply system for the capsule endoscope according to claim 1, characterized in that, The three-degree-of-freedom translational base includes a first moving part (1-1) that drives the one-dimensional electromagnetic transmitter pair to move back and forth, a second moving part (1-2) that moves left and right, and a third moving part (1-3) that moves up and down. The third moving part (1-3) is mounted on the second moving part (1-2). The second moving part (1-2) can drive the third moving part (1-3) to move back and forth along the X-axis via a motor and a guide rail. The second moving part (1-2) is mounted on the first moving part (1-1). The first moving part (1-1) can drive the second moving part (1-2) to move left and right along the Y-axis via a motor and a guide rail. The one-dimensional electromagnetic transmitter pair (2) is mounted on the third moving part (1-3). The third moving part can drive the one-dimensional electromagnetic transmitter pair (2) to move up and down along the Z-axis via a motor and a guide rail.

3. The wireless power supply system for the capsule endoscope according to claim 1, characterized in that, The one-dimensional electromagnetic transmitting pair (2) includes two pairs of one-dimensional transmitting coils (2-1) facing each other and a connecting bracket (2-2). The one-dimensional transmitting coils (2-1) are installed at both ends of the connecting bracket (2-2). The coil axes of the one-dimensional transmitting coils are all along the Z-axis. When a direct current is passed into the one-dimensional transmitting coils, a magnetic field along the Z-axis will be generated on the axis.

4. The wireless power supply system for the capsule endoscope according to claim 1, characterized in that, The capsule endoscope (3) includes: a capsule shell (3-1), and inside the capsule shell (3-1) are disposed: The photothermal therapy module (3-2) is used to capture real-time images of the gastric wall and perform photothermal therapy on the lesions using near-infrared light. The wireless communication module (3-3) is used to receive and send information; The main control module (3-4) serves as the control center for the capsule endoscope. The rectifier module (3-5) uses a rectifier and filter circuit to supply the stable power obtained by wireless power supply to the entire capsule endoscope (3). The main control module (3-4) controls the working status of the photothermal therapy module (3-2) and the posture adjustment module (3-6).

5. The wireless power supply system for the capsule endoscope according to claim 4, characterized in that, The capsule shell (3-1) is provided with an upper partition (3-1-1) and a lower partition (3-1-2), forming a space between the upper and lower partitions. On the upper partition (3-1-1), a photothermal therapy module (3-2), a wireless communication module (3-3), a main control module (3-4), and a rectifier module (3-5) are arranged in sequence, with the rectifier module (3-5) located on the upper partition (3-1-1). Below the upper partition (3-1-1), an attitude adjustment module (3-6) and a permanent magnet electromagnetic module (3-7) are arranged.

6. The wireless power supply system for the capsule endoscope according to claim 4, characterized in that, The permanent magnet electromagnetic module (3-7) consists of a cylindrical permanent magnet (3-7-1), a one-dimensional self-collimating electromagnetic receiver pair (3-7-4), a cylindrical magnetic core (3-7-2), and a plastic shell (3-7-3). The cylindrical permanent magnet (3-7-1) is made of neodymium iron boron strong magnetic material and is magnetized along the axial direction. The one-dimensional self-collimating electromagnetic receiver pair (3-7-4) consists of two sets of opposing one-dimensional receiving coils. The cylindrical magnetic core (3-7-2) is made of multilayer silicon steel to improve energy reception efficiency and reduce eddy currents.

7. The wireless power supply system for the capsule endoscope according to claim 6, characterized in that, The axes of the cylindrical permanent magnet (3-7-1), the one-dimensional self-collimating electromagnetic receiver pair (3-7-4), the cylindrical magnetic core (3-7-2), and the plastic shell (3-7-3) always coincide.

8. The wireless power supply system for the capsule endoscope according to claim 1, characterized in that, The first micro motor (3-6-1) and the second micro motor (3-6-2) are both fixed on the lower partition (3-1-2) inside the capsule shell (3-1) and are equipped with motor magnetic shields to prevent the magnetic field of the motor from interfering with the control of the permanent magnet electromagnetic module (3-7); the first synchronous belt (3-6-3) and the second synchronous belt (3-6-4) are connected to the first rotating shaft (3-6-5) and the second rotating shaft (3-6-6) below through the openings on both sides of the lower partition (3-1-2).

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