Method and apparatus for controlling a magnetically controlled capsule system

Abstract

The application discloses a control method and device of a magnetic control capsule system. The control method comprises the following steps: acquiring the coordinates of a capsule endoscope, a critical height distance and a preset redundancy distance; when the capsule endoscope is located on a lower wall, moving a control magnet to the upper side of the capsule endoscope and controlling the vertical movement of the control magnet to a specified position; and when the capsule endoscope is located on an upper wall, moving the control magnet to the upper side of the capsule endoscope and controlling the vertical movement of the control magnet to a specified position. The control method can efficiently and accurately control the movement of the capsule endoscope in the digestive tract, control the capsule endoscope to pass through the obstacle area in the digestive tract, realize the quantitative position transfer and posture adjustment of the capsule endoscope, and quickly switch the position of the capsule endoscope on the upper wall and the lower wall to take a photo of the target area, thereby significantly improving the automation degree and execution efficiency of the control.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a control method and apparatus for a magnetically controlled capsule system. Background Technology

[0002] In vivo device positioning technology, such as wireless capsule endoscopes and invasive medical devices, is receiving increasing attention. Magnetic-controlled capsule systems use magnetic force to drive the capsule endoscope to move within the digestive tract.

[0003] In the process of realizing this invention, the inventors discovered at least the following problems in the prior art:

[0004] (1) Due to the irregular shape and undulating hollow structure inside the digestive tract, some anatomical areas (such as the fundus, antrum, and angle of the stomach) have deep concave or steep slopes, and the surface of the digestive tract, which may be stretched due to insufficient inflation or water injection, may exhibit deep folds. Capsule endoscopes face obstacles when moving in these locations;

[0005] (2) Capsule endoscopes sometimes need to take pictures of the upper part of the digestive tract and sometimes need to take pictures of the lower part of the digestive tract. In other words, capsule endoscopes need to frequently switch positions and adjust different shooting directions, which puts higher demands on the movement trajectory of capsule endoscopes.

[0006] (3) When moving and taking pictures in these areas, the patient may need to change their position multiple times, such as lying flat or on their side, to change the position of the capsule endoscope. However, this is inconvenient and may result in missed scans or repeated images, affecting the quality and efficiency of the examination. Alternatively, it may require an experienced physician to take pictures of the digestive tract wall through the built-in lens to determine the position and orientation of the capsule endoscope. The physician then uses experience to drive the capsule endoscope to the next position using an external control magnet. However, this method cannot precisely and quantitatively control the movement, taking pictures, or crossing the aforementioned obstacle areas of the capsule endoscope. Summary of the Invention

[0007] To solve at least one of the aforementioned problems in the prior art, the present invention aims to provide a control method and apparatus for a magnetically controlled capsule system that efficiently controls the movement of a capsule endoscope.

[0008] To achieve the above-mentioned objective, one embodiment of the present invention provides a control method for a magnetically controlled capsule system. The magnetically controlled capsule system includes a capsule endoscope and a control magnet. The capsule endoscope is located in a detection area, which has an upper wall and a lower wall. The control method includes the following steps:

[0009] Obtain the coordinates of the capsule endoscope [C] x C y C z The critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet and the capsule endoscope when the control magnet can lift the capsule endoscope;

[0010] When the capsule endoscope is located on the lower wall, the following jump can be performed:

[0011] Move the control magnet directly above the capsule endoscope;

[0012] The vertical coordinate of the control magnet is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall;

[0013] or,

[0014] When the capsule endoscope is located on the upper wall, the following jump two can be performed:

[0015] Move the control magnet directly above the capsule endoscope;

[0016] The vertical coordinate of the control magnet is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall.

[0017] As a further improvement of the present invention, the method for calculating the critical height distance is as follows:

[0018] Where ρ is the density of the liquid medium in which the capsule endoscope is located, V is the volume of the capsule endoscope, g is the gravitational acceleration constant, and m c Let M be the mass of the capsule endoscope, M and m be the magnetic moments of the control magnet and the magnet inside the capsule endoscope, respectively, r be the center distance between the control magnet and the magnet inside the capsule endoscope, and μ0 be the vacuum permeability.

[0019] As a further improvement of the present invention, the method for obtaining the critical height distance includes the following steps:

[0020] Move the control magnet directly above the capsule endoscope, and move the control magnet relatively away from the capsule endoscope so that the capsule endoscope is not attracted.

[0021] Rotate the control magnet to a vertical position;

[0022] The control magnet is moved vertically toward the capsule endoscope;

[0023] When the capsule endoscope begins to move away from the lower wall, the height difference between the capsule endoscope and the control magnet is recorded at this time, and the height difference is the critical height distance.

[0024] As a further improvement of the present invention, step skip one also includes:

[0025] Move the control magnet directly above the capsule endoscope;

[0026] The vertical coordinate of the control magnet is M. Z =Z0+δ+C z ;

[0027] Rotate the control magnet to adjust the imaging direction of the capsule endoscope to the target direction;

[0028] The vertical coordinate of the control magnet is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall.

[0029] As a further improvement of the present invention, step skip two also includes:

[0030] Move the control magnet directly above the capsule endoscope;

[0031] The vertical coordinate of the control magnet is M. Z =Z0-δ+C z ;

[0032] Rotate the control magnet to adjust the imaging direction of the capsule endoscope to the target direction;

[0033] The vertical coordinate of the control magnet is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall.

[0034] As a further improvement of the present invention, the imaging direction of the capsule endoscope needs to be adjusted to rotate 180° vertically, the control magnet needs to be rotated 180° vertically, and the N pole and S pole of the control magnet need to be swapped vertically.

[0035] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, wherein when the capsule endoscope is located on the lower wall, the following jump three can be performed:

[0036] The control magnet is moved to a first position, which is a first distance from the projection of the capsule endoscope onto the horizontal plane, and the vertical coordinate M of the first position is... Z =Z0+δ+C z ;

[0037] The control magnet is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall and stops moving;

[0038] The control magnet is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z This causes the capsule endoscope to fall and stop at the lower wall.

[0039] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, wherein when the capsule endoscope is located on the upper wall, the following jump four can be performed:

[0040] The control magnet is moved to a second position, which is a second distance from the projection of the capsule endoscope onto the horizontal plane, and the vertical coordinate M of the second position is... Z =Z0-δ+C z ;

[0041] The control magnet is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall and stops moving;

[0042] The control magnet is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z This causes the capsule endoscope to be sucked up and stop at the upper wall.

[0043] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a control device for a magnetically controlled capsule system. The magnetically controlled capsule system includes a capsule endoscope and a control magnet. The capsule endoscope is located in a detection area, which has an upper wall and a lower wall. The control device includes:

[0044] The acquisition module is used to acquire the coordinates of the capsule endoscope [C]. x C y C zThe critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet and the capsule endoscope when the control magnet can lift the capsule endoscope;

[0045] The control module is configured to perform the following jump when the capsule endoscope is located on the lower wall:

[0046] Move the control magnet directly above the capsule endoscope;

[0047] The vertical coordinate of the control magnet is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall;

[0048] or,

[0049] When the capsule endoscope is located on the upper wall, the following jump two can be performed:

[0050] Move the control magnet directly above the capsule endoscope;

[0051] The vertical coordinate of the control magnet is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall.

[0052] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides an electronic device, comprising:

[0053] Storage module, used to store computer programs;

[0054] The processing module, when executing the computer program, can implement the steps in the control method of the magnetically controlled capsule system described above.

[0055] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a readable storage medium storing a computer program, characterized in that the computer program, when executed by a processing module, can implement the steps in the control method of the magnetically controlled capsule system described above.

[0056] Compared with existing technologies, this invention has the following advantages: This control method can efficiently and precisely control the movement of the capsule endoscope within the digestive tract, allowing it to traverse obstructed areas, achieve quantitative positional transfer and posture adjustment, and quickly switch its position on the upper and lower walls of the capsule endoscope for imaging the target area. This achieves control effects that are currently difficult to achieve manually, reducing unnecessary postural adjustments for the patient and improving comfort during the examination. It significantly improves the automation and efficiency of control, expands the quantitative control methods and functions of the capsule endoscope, and facilitates the expansion of application scenarios for magnetically controlled capsule systems. Attached Figure Description

[0057] Figure 1 This is a flowchart of a control method according to an embodiment of the present invention;

[0058] Figure 2A This is a schematic diagram of the structure of a capsule endoscope at the bottom according to an embodiment of the present invention;

[0059] Figure 2B This is a schematic diagram of the structure of a capsule endoscope in the form of a suction cup according to an embodiment of the present invention;

[0060] Figure 3 This is a flowchart of a method for controlling a capsule endoscope to perform basic jumps according to an embodiment of the present invention;

[0061] Figure 3A This is a diagram illustrating the process of a capsule endoscope changing from a bottom position to a top position according to an embodiment of the present invention.

[0062] Figure 3B This is a diagram illustrating the process of a capsule endoscope changing from a suction cup to a bottom position according to an embodiment of the present invention.

[0063] Figure 4 This is a flowchart of controlling a capsule endoscope to perform mirror jumping according to an embodiment of the present invention;

[0064] Figure 4A This is a diagram illustrating the process of a capsule endoscope according to an embodiment of the present invention changing from being at the bottom to being at the top and then flipping over.

[0065] Figure 4B This is a diagram illustrating the process of a capsule endoscope, according to an embodiment of the present invention, changing from a suction cup to a bottom position and then flipping over.

[0066] Figure 5 This is a flowchart of controlling a capsule endoscope to perform a jump according to an embodiment of the present invention;

[0067] Figure 5A This is a diagram illustrating the process of a capsule endoscope crossing an obstacle as it sinks to the bottom, according to an embodiment of the present invention.

[0068] Figure 5BThis is a diagram illustrating the process of a capsule endoscope crossing an obstacle when it reaches the bottom, according to an embodiment of the present invention.

[0069] Figure 5C This is a diagram illustrating the process of a capsule endoscope crossing an obstacle during suction, according to an embodiment of the present invention.

[0070] Figure 5D This is a diagram illustrating the process of a capsule endoscope crossing an obstacle during suction, according to an embodiment of the present invention.

[0071] Figure 6 This is a schematic diagram of a magnetically controlled capsule system according to an embodiment of the present invention;

[0072] Among them, 1000 is the magnetically controlled capsule system; 100 is the magnetic control system; 200 is the capsule endoscope; 10 is the control device; 11 is the control magnet; 20 is the signal transmission module; 30 is the storage module; 40 is the processing module; 50 is the capsule magnet; 60 is the camera module; 70 is the signal transmission module; 80 is the communication bus; 300 is the digestive tract; 301 is the upper wall; 302 is the lower wall; and 31 is the liquid. Detailed Implementation

[0073] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0074] One embodiment of the present invention provides a control method and apparatus for efficiently controlling the movement of a magnetically controlled capsule system. Magnetically controlled capsule systems are devices applied to the human body, such as wireless capsule endoscopes and invasive medical devices, and can control the movement of the capsule endoscope within the digestive tract.

[0075] Magnetically controlled capsule system

[0076] The magnetically controlled capsule system 1000 of this embodiment includes a magnetic control system 100 and a capsule endoscope 200. The magnetically controlled capsule system 1000 can position the capsule endoscope 200 and control its movement via the magnetic control system 100. The magnetic control system 100 includes a control magnet 11 for emitting a magnetic field and a control device 10 for controlling the movement of the control magnet 11. The capsule endoscope 200 contains a sensor module and a capsule magnet 50. The sensor module includes a magnetic sensor (such as a Hall sensor, magnetoresistive sensor (AMR, GMR, TMR), etc.) for detecting the magnetic field, an accelerometer, and an imaging module. The data detected by the sensor module can be used to position the capsule endoscope 200. By controlling the magnet 11 to exert a force on the capsule magnet 50, and combining the positioning data of the capsule endoscope 200, the magnetic control system 100 can control the position and orientation of the capsule endoscope 200.

[0077] The capsule endoscope 200 is located in the detection area, which has an upper wall 301 and a lower wall 302. The detection area can simulate the human digestive tract 300 in a laboratory or be simulated in a real patient's body. In this embodiment, the detection area is the digestive tract 300 as an example.

[0078] More specifically, taking the stomach within the digestive tract 300 as an example, the gas within the digestive tract 300 is relatively less than that within 31, with only a small amount of gas present in the antrum and fundus. Therefore, generally, when the capsule endoscope 200 is stable within the digestive tract 300, it is either in a bottom-heavy state or a top-heavy state. The bottom-heavy state is shown in Figure 2, and the top-heavy state is shown in Figure 300. Figure 3 As shown, the upper wall 301 and lower wall 302 of the detection area, i.e., the upper wall 301 and lower wall 302 of the digestive tract 300, have the liquid level relatively close to the upper wall 301. During the examination, the capsule endoscope 200 is located inside the human body, the human body lies flat on the bed, and a magnetic control system 100 is provided outside the human body to control the magnetic field emitted by the magnet 11, thereby controlling the movement of the capsule endoscope 200 inside the human body.

[0079] Here, to clearly express the position and direction described in this embodiment, in this embodiment, the human body lying on the bed surface is defined as above, and the opposite direction is below. Taking Figures 2 and 3 as examples, the control magnet 11 is located above the human body, and the control magnet 11 can move in various directions above the human body. In addition, the direction of buoyancy is upward, and the direction of gravity is downward. The horizontal plane in this embodiment can be a horizontal plane perpendicular to the vertical direction, and the left and right direction is the left and right direction shown in the attached figures. Figures 5A-5D In the middle, the capsule endoscope 200 moves from left to right.

[0080] When in the suction state, the capsule endoscope 200 is against the upper wall 301. At this time, the control magnet 11 is relatively close to the capsule endoscope 200, and the control magnet 11 emits a magnetic force to attract the capsule magnet 50 in the capsule endoscope 200. When in the sinking state, the capsule endoscope 200 is against the lower wall 302. In addition, when the suction is removed, the capsule endoscope 200 is also in the sinking state.

[0081] Furthermore, in both the suction-on and sinking states, the capsule endoscope 200 is in a state of force balance. In both the sinking and suction-on states, the capsule endoscope 200 relies on the support force and friction of the digestive tract 300 to achieve an adaptive balance between the magnetic force of the control magnet 11, the gravity of the capsule endoscope 200, and the buoyancy of the medium 31. If it is removed from the support of the upper wall 301 and lower wall 302 of the digestive tract 300, since there is very little gas in the stomach and the capsule endoscope 200 is mainly in the gastric juice, it is difficult for the capsule endoscope 200 to maintain balance at any position on the Z-axis. Therefore, when the capsule endoscope 200 moves, after the control magnet 11 stops moving, the capsule endoscope 200 will remain in the suction-on or sinking state when it stops.

[0082] Critical height distance

[0083] Before operating the control method of the magnetically controlled capsule system 1000, a critical height distance can be obtained first. The critical height distance is the maximum distance between the control magnet 11 and the capsule endoscope 200 when the control magnet 11 can attract the capsule endoscope 200. The acquisition of the critical height distance includes the following two embodiments.

[0084] In one embodiment, the critical height distance is calculated, and the calculation method is as follows:

[0085] The suction force exerted by the magnet 11 on the capsule endoscope 200 can be expressed as:

[0086]

[0087] Where M and m are the magnetic moments of the control magnet 11 and the capsule magnet 50, respectively, and r is the center distance between the control magnet 11 and the magnet inside the capsule endoscope 200.

[0088] When the attractive force of the control magnet 11 on the capsule endoscope 200 is balanced with the weight and buoyancy of the capsule endoscope 200, the force balance formula is:

[0089] F m (Z0)+ρVg=m c g, (Formula 2)

[0090] Where ρ is the density of the medium 31 in which the capsule endoscope 200 is located, V is the volume of the capsule endoscope 200, g is the gravitational acceleration constant, and m c For the quality of capsule 201.

[0091] Combining Formula 1 and Formula 2 above, we obtain Formula 3 for calculating the critical height distance Z0:

[0092]

[0093] The critical height distance can be calculated using this formula.

[0094] In another embodiment, the critical height distance can also be determined experimentally. Considering that in the actual environment, the magnetic moment of the control magnet 11 and the capsule magnet 50 changes due to magnetization, and the mass and volume of the capsule endoscope 200 are affected by model variations, multiple experimental measurements are performed based on the actual control system and capsule endoscope 200 type, and then the arithmetic mean is taken. This can significantly reduce the measurement error and make the results more reliable.

[0095] Specifically, the method for obtaining the critical height distance includes the following steps:

[0096] Move the control magnet 11 directly above the capsule endoscope 200, and move the control magnet 11 relatively away from the capsule endoscope 200 so that the capsule endoscope 200 is not attracted.

[0097] Rotate the control magnet 11 to a vertical position;

[0098] The control magnet 11 is moved vertically toward the capsule endoscope 200;

[0099] When the capsule endoscope 200 begins to move away from the lower wall 302, the height difference between the capsule endoscope 200 and the control magnet 11 is recorded, and the height difference is the critical height distance.

[0100] Since the magnetically controlled capsule system 1000 can position the capsule endoscope 200, the coordinates of the capsule endoscope 200 can be obtained [C]. x C y C z C h C v C s ], and the coordinates of the control magnet 11 [M x M y M z M h M v The coordinates of the capsule endoscope 200 and the control magnet 11 are both in the same world coordinate system.

[0101] [C x C y C z[] represents the XYZ coordinates of the capsule endoscope 200 in the world coordinate system, and the orientation angle of the capsule endoscope 200 is represented by the state parameter [C] in spherical coordinate form. h C v Description, C v C is the vertical tilt angle. h This is the horizontal azimuth angle. [C] h C v [] indicates the orientation angle of the head of capsule 201, horizontal azimuth angle C. h The angle between the projection vector of the capsule endoscope 200 head onto the XY plane and the positive Y-axis, increasing clockwise; vertical tilt angle C. v (Value range [0, +180] degrees) is the angle between the head of the capsule endoscope 200 and the positive Z-axis.

[0102] [M x M y M z [M] represents the XYZ coordinates of the control magnet 11 in the world coordinate system. h M v [ ] indicates the orientation angle of the N pole of the control magnet 11, and the horizontal azimuth angle M. h To control the angle between the projection vector of the magnetization direction vector of magnet 11 onto the XY plane and the positive Y-axis, the vertical tilt angle M v (Value range [0, +180] degrees) is the angle between the magnetization direction vector of the control magnet 11 and the positive Z-axis.

[0103] When the control magnet 11 is directly above the capsule endoscope 200, M x =C x M y =C y The control magnet 11 and the capsule endoscope 200 are aligned on the same straight line in the XY plane perpendicular to the world coordinate system.

[0104] When the control magnet 11 is rotated to the vertical position, the vertical tilt angle M v =0, at this time the capsule endoscope 200 is also controlled to be adjusted to a vertical position, that is, the vertical tilt angle C. v =0.

[0105] The control magnet 11 is gradually brought closer to the capsule endoscope 200. When the capsule endoscope 200 begins to move away from the lower wall 302, that is, when the capsule is just pulled away from the lower wall 302, the height difference D between the center of the control magnet 11 and the capsule endoscope 200 is... z ≡M z -C z =Z0 is the critical height distance.

[0106] Following the steps described above, multiple critical height distances of the capsule endoscope 200 in gastric fluid and air can be measured. Repeat the above steps and take the arithmetic mean of the multiple measurements.

[0107] For different magnetic control systems 100 and different capsule endoscope 200 models, a parameter table of critical height distance can be established according to the hardware combination type for easy direct lookup and use.

[0108] Control method of magnetically controlled capsule system 1000

[0109] Figure 1 This application provides a control method for a magnetically controlled capsule system 1000 according to one embodiment. Figures 3-5D To illustrate the specific jumping method steps and jumping diagrams, the following description, in conjunction with the accompanying drawings, illustrates a control method provided by an embodiment of the present invention. Although this application provides method operation steps as shown in the following embodiments or flowcharts, the execution order of steps in which there is no necessary causal relationship in logic, based on conventional or non-creative labor, is not limited to the execution order provided in the embodiments of this application.

[0110] The specific control method for the magnetically controlled capsule system 1000 includes the following steps:

[0111] Step S10: Obtain the coordinates of the capsule endoscope 200 [C] x C y C z The parameters are: critical height distance Z0 and preset redundancy distance δ. The preset redundancy distance δ is approximately 3 cm. It is used to eliminate positioning errors and noise interference caused by peristalsis of the digestive tract 300, and to ensure a high success rate of control action execution, so that the capsule endoscope 200 can achieve the expected state transition.

[0112] Step S20: Obtain control commands.

[0113] The control commands are based on the position of the capsule endoscope 200 in the digestive tract 300 and the operational requirements. The control commands may include: basic jump, mirror jump, and cross-jump jump. These jumps are applicable to different functional application scenarios of the capsule endoscope 200, and the capsule endoscope 200 is controlled to perform different modes of jump according to different control commands.

[0114] In addition, the three types of jumps—basic jump, mirror jump, and cross jump—each include two scenarios:

[0115] Scenario 1: When the capsule endoscope 200 is located on the lower wall 302, the capsule endoscope 200 performs jump one or three.

[0116] Scenario 2: When the capsule endoscope 200 is located on the upper wall 301, the capsule endoscope 200 performs jump two or four.

[0117] The following provides a detailed explanation of the three jump modes, as well as Scene 1 and Scene 2 within each jump mode:

[0118] Basic jump

[0119] The basic jumping motions include upward and downward jumps, controlling the capsule endoscope 200 to rise from the lower wall 302 of the digestive tract 300 to the upper wall 301, or to descend from the upper wall 301 to the lower wall 302. This is used to achieve rapid quantitative switching of the capsule endoscope 200's vertical position between the upper wall 301 and the lower wall 302 within the digestive tract 300, as well as to quickly approach the target position of the digestive tract 300 wall.

[0120] Specific application scenarios for this basic jump include situations where the capsule endoscope 200 needs to be pressed against the upper wall 301 or lower wall 302 of the digestive tract 300 for imaging, and the capsule needs to switch its contact with the upper wall 301 or lower wall 302 before subsequent operations such as rolling and dragging on the other wall can be performed.

[0121] The basic jump operation method steps are as follows: Figure 3 As shown in the flowchart, for the movement process of the capsule endoscope 200 in scenario one, the reference... Figure 3A As shown, for the movement process of the capsule endoscope 200 in scenario two, refer to... Figure 3B As shown.

[0122] In scene one, corresponding to jump one, the steps include:

[0123] Move the control magnet 11 to directly above the capsule endoscope 200;

[0124] The vertical coordinate of the control magnet 11 is M. Z =Z0-δ+C z Until the capsule endoscope 200 moves to the upper wall 301;

[0125] Initially, the vertical coordinate of magnet 11 was set to M. Z1 ,lie in Figure 3A The vertical coordinate of position 'a' in the diagram when the movement reaches its final position is M. Z2 ,lie in Figure 3A At position b, magnet 11 is controlled to move downwards, and the distance moved is d. z =(Z0-δ)-(M z1 -C z ), and then arrive at M Z2 =Z0-δ+C zThis causes the capsule endoscope 200 to be sucked up and move upwards, stopping at the upper wall 301 of the digestive tract 300, thus achieving the effect of controlling the capsule endoscope 200 to perform a basic upward jumping motion.

[0126] In scene two, corresponding to jump two, the steps include:

[0127] Move the control magnet 11 to directly above the capsule endoscope 200;

[0128] The vertical coordinate of the control magnet 11 is M. Z =Z0+δ+C z Until the capsule endoscope 200 moves to the lower wall 302.

[0129] Initially, the vertical coordinate of magnet 11 was set to M. Z1 ,lie in Figure 3B The vertical coordinate of position 'a' in the diagram when the movement reaches its final position is M. Z2 ,lie in Figure 3B At position b, magnet 11 is controlled to move upwards, and the distance moved is d. z =(Z0+δ)-(M z1 -C z ), and then arrive at M Z2 =Z0+δ+C z This causes the capsule endoscope 200 to descend and move downwards, stopping at the lower wall 302 of the digestive tract 300, thus achieving the effect of controlling the capsule endoscope 200 to perform a basic downward jumping motion.

[0130] In both scenarios 1 and 2, the orientation angle of the control magnet 11 remains unchanged, and the orientation of the magnetic poles does not change. Therefore, the capsule endoscope 200 only performs a jumping motion from the lower wall 302 to the upper wall 301, and its orientation does not change.

[0131] To achieve better control effect and success rate, in both scenario one and scenario two, the control magnet 11 can be rotated to be close to the vertical direction of the magnetic field (N pole), i.e., Mv = 0 or 180, so as to provide the maximum attraction to the capsule endoscope 200 and avoid the capsule endoscope 200 from unexpected lateral displacement.

[0132] Mirror Jump

[0133] The mirror jumping action includes upward and downward jumping, controlling the capsule endoscope 200 to rise from the lower wall 302 of the digestive tract 300 to the upper wall 301, or to descend from the upper wall 301 to the lower wall 302. At the same time, the lens of the capsule endoscope 200 is rotated at a certain angle to achieve rapid quantitative switching between imaging the upper wall 301 and the lower wall 302 of the digestive tract 300.

[0134] In this embodiment, preferably, the capsule endoscope 200 is rotated 180° in the vertical direction, such as... Figure 4A As shown, the capsule endoscope 200 originally takes pictures upward from the lower wall 302, but when rotated, it takes pictures downward from the upper wall 301, or the opposite of the situation shown in 4B. In addition, the magnet 11 is controlled to rotate 180° in the vertical direction, and the N pole and S pole of the magnet 11 are controlled to be interchanged.

[0135] Mirror jump can include adjustments of various angles. In practice, the most common use is to rotate 180° and swap the top and bottom, so this jump mode is named after this more common use.

[0136] The specific application scenario of this mirror jump corresponds to that described in the background technology. Sometimes the capsule endoscope 200 needs to take pictures of the upper area of ​​the digestive tract 300, and sometimes it needs to take pictures of the lower area of ​​the digestive tract 300. In other words, the capsule endoscope 200 needs to frequently switch positions and adjust different shooting directions. This mirror jump control mode is used to precisely control the movement trajectory of the capsule endoscope 200.

[0137] The steps for running a mirror jump are as follows: Figure 4 As shown in the flowchart, for the movement process of the capsule endoscope 200 in scenario one, the reference... Figure 4A As shown, for the movement process of the capsule endoscope 200 in scenario two, refer to... Figure 4B As shown.

[0138] In scene one, corresponding to jump one, the steps include:

[0139] Move the control magnet 11 to directly above the capsule endoscope 200;

[0140] The vertical coordinate of the control magnet 11 is M. Z =Z0+δ+C z ;

[0141] Rotate the control magnet 11 to adjust the imaging direction of the capsule endoscope 200 to the target direction;

[0142] The control magnet 11 is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z Until the capsule endoscope 200 moves to the upper wall 301.

[0143] like Figure 4A As shown at position a, after the control magnet 11 is moved directly above the endoscope, the distance between the control magnet 11 and the capsule endoscope 200 is then adjusted to be greater than the critical height distance, so that M z -C z=Z0+δ, that is, the vertical coordinate of the control magnet 11 is M. Z =Z0+δ+C z ,like Figure 4A As shown at position b, the capsule endoscope 200 is in a safe state where it cannot be sucked up, and the lateral friction force it experiences is small, making it easier for the capsule endoscope 200 to return to its lateral center position during subsequent tumbling. Ideally, M... z -C z =Z0 After reaching the critical height distance, after superimposing the preset redundant distance δ, it can be ensured that the distance between the new control magnet 11 and the capsule endoscope 200 is greater than the critical height distance, and the capsule endoscope 200 is maintained at the lower wall 302.

[0144] Then as Figure 4A As shown in positions c and d, the control magnet 11 is rotated vertically, causing the capsule to tumble along with it. The camera direction is adjusted to the target direction, while maintaining an approximately constant lateral position. Finally, the distance between the control magnet 11 and the capsule endoscope 200 is adjusted to be less than the critical height distance, so that M... z -C z =Z0-δ, such as Figure 4A As shown at position e, the capsule endoscope 200 is lifted to the upper wall 301. Since the original imaging direction was upward, after rotating 180°, the imaging direction is downward, capturing the area of ​​the lower wall 302 of the opposite digestive tract 300. As mentioned above, subtracting the preset redundant distance δ ensures that the distance between the new control magnet 11 and the capsule endoscope 200 is less than the critical height distance, preventing it from falling. This achieves the effect of controlling the capsule endoscope 200 to perform an upward mirror-like jumping motion.

[0145] In scene two, corresponding to jump two, the steps include:

[0146] Move the control magnet 11 to directly above the capsule endoscope 200;

[0147] The vertical coordinate of the control magnet 11 is M. Z =Z0-δ+C z ;

[0148] Rotate the control magnet 11 to adjust the imaging direction of the capsule endoscope 200 to the target direction;

[0149] The control magnet 11 is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z Until the capsule endoscope 200 moves to the lower wall 302.

[0150] like Figure 4BAs shown at position a, after the control magnet 11 is moved directly above the endoscope, the distance between the control magnet 11 and the capsule endoscope 200 is then adjusted to be less than the critical height distance, so that M z -C z =Z0-δ, that is, the vertical coordinate of the control magnet 11 is M. Z =Z0-δ+C z ,like Figure 4B As shown at position b, the capsule endoscope 200 is in a safe state where it cannot be dropped, and the lateral friction force it experiences is small, making it easier for the capsule endoscope 200 to return to its lateral center position when it is tumbled laterally. Ideally, M... z -C z =Z0 after reaching the critical height distance, after subtracting the preset redundant distance δ, it can be ensured that the distance between the new control magnet 11 and the capsule endoscope 200 is less than the critical height distance and will not fall.

[0151] Then as Figure 4B As shown in positions c and d, the control magnet 11 is rotated vertically, causing the capsule to tumble, adjusting the camera direction to the target direction while maintaining an approximately constant lateral position; finally, the distance between the control magnet 11 and the capsule endoscope 200 is adjusted to be greater than the critical height distance, so that M z -C z =Z0+δ, such as Figure 4B As shown at position e, the capsule endoscope 200 falls to the lower wall 302. Since the original camera direction was downward, after rotating 180°, the camera direction becomes upward, capturing the upper wall 301 region of the opposite digestive tract 300. As mentioned above, by superimposing a preset redundant distance δ, it can be ensured that the distance between the new control magnet 11 and the capsule endoscope 200 is greater than the critical height distance, causing the capsule endoscope 200 to fall to the lower wall 302. This achieves the effect of controlling the capsule endoscope 200 to perform an upward mirror-image jumping motion.

[0152] Furthermore, near the critical height distance, the influence of friction on the capsule endoscope 200 is relatively small. The lateral component of the attractive force of the control magnet 11 tends to cause the capsule endoscope 200 to tend towards the center directly below the control magnet 11. Therefore, the rotation angle of the control magnet 11 is approximately the same as the rotation angle of the capsule endoscope 200. For example, a 180° rotation of the control magnet 11 can drive the capsule endoscope 200 to rotate stably by 180° as well. Additionally, when the rotation angle is less than 180°, the rotation angle of the control magnet 11 and the rotation angle of the capsule endoscope 200 are the same in magnitude but opposite in direction.

[0153] Leap

[0154] The jumping motion involves controlling the capsule endoscope 200 to move from the lower wall 302 of the digestive tract 300 to the upper wall 301, or from the upper wall 301 to the lower wall 302, while simultaneously causing a quantitative shift in the horizontal direction. Then, the capsule endoscope 200 is controlled to move from the upper wall 301 of the digestive tract 300 to the lower wall 302, or from the lower wall 302 to the upper wall 301, while simultaneously causing a quantitative shift in the horizontal direction, thus enabling the capsule endoscope 200 to traverse obstacles and steep slopes.

[0155] The specific application scenario of this "jumping over" technique corresponds to the digestive tract 300 described in the background art having an irregularly shaped, undulating, and deformed cavity structure; some anatomical regions (such as the fundus, antrum, and angle of the stomach) containing deep concave or steep slope obstacles; and the surface of the digestive tract 300, which may exhibit deep folds due to insufficient inflation or water injection. The "jumping over" technique allows the capsule endoscope 200 to overcome these obstacles.

[0156] During the jump, as the capsule endoscope 200 moves from its current position C to the target position T, there is a certain lateral offset in the XY plane. When the capsule endoscope 200 jumps into the air, the lateral component of the attraction force of the control magnet 11 on the capsule always tends to bring the capsule endoscope 200 closer to the center directly below the control magnet 11. Therefore, by jumping in the Z direction to make the capsule endoscope 200 take off, the capsule endoscope 200 loses the resistance of the friction force of the digestive tract wall 300, and can easily achieve the effect of lateral crossing within the digestive tract 300.

[0157] Furthermore, due to the limited height of the digestive tract 300, the distance the capsule endoscope 200 can jump across in each pass is limited. When the distance between C and T is large, multiple consecutive jumps are required to gradually approach the target position T. The updated landing position C of the capsule endoscope 200 is determined through calculation. new The Euclidean distance between the capsule endoscope 200 and the target position T in the XY plane is used to determine whether the capsule endoscope 200 has reached the vicinity of the target position T. Threshold dist th A value of 5-10mm is generally sufficient to achieve good control. The calculation method for the Euclidean distance is as follows:

[0158] Among them, C new，x and C new，y C new The x-axis and y-axis coordinates of the position.

[0159] The steps for performing a jump are as follows: Figure 5 As shown in the flowchart, for the movement process of the capsule endoscope 200 in scenario one, the reference... Figure 5A and5B As shown, for the movement process of the capsule endoscope 200 in scenario two, refer to... Figure 5C and 5D As shown.

[0160] In scene one, corresponding to jump three, such as Figure 5A As shown, the capsule endoscope 200 is located in the lower wall 302 region of the digestive tract 300. To achieve the upward jump of the capsule endoscope 200 from position C to position T, moving from coordinates [Cx, Cy] to a new coordinate [Tx, Ty], the steps include:

[0161] Move the control magnet 11 to directly above the capsule endoscope 200;

[0162] The vertical coordinate of the control magnet 11 is M. Z =Z0+δ+C z ;

[0163] The control magnet 11 is controlled to move a first distance in the horizontal plane, and the new position of the control magnet 11 is the first position. That is to say, the first position is a first distance away from the projection of the capsule endoscope 200 on the horizontal plane.

[0164] The control magnet 11 is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z Until the capsule endoscope 200 moves to the upper wall 301 and stops moving;

[0165] The control magnet 11 is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z This causes the capsule endoscope 200 to fall and stop at the lower wall 302.

[0166] like Figure 5A As shown in position 'a', in the previous control, the control magnet 11 has been moved to directly above the capsule endoscope 200, or, in order to determine the positions of C and T, the control magnet 11 is first moved to directly above the capsule endoscope 200. Then, the control magnet 11 is moved to directly above the target landing point T of the capsule endoscope 200, and the vertical coordinate of the control magnet 11 is set to M. Z =Z0+δ+C z And control the control magnet 11 to move a first distance in the horizontal plane, so as to ensure that when the control magnet 11 moves to Figure 5A At position b, the capsule endoscope 200 is unaffected. Then, the magnet 11 is moved downwards relative to the current height Mz in the Z direction by a distance d. z =(Z0-δ)-(Mz -C z Approaching the capsule endoscope 200, reaching the final state height M Z =Z0-δ+C z This causes the capsule endoscope 200 to be lifted and stop at the upper wall 301 of the digestive tract 300. During the upward movement of the capsule endoscope 200, it is constantly attracted by the magnetic force of the control magnet 11 on the right, generating a lateral force, thus propelling it to a position where... Figure 5A Position c in the diagram. Finally, control magnet 11 to move upward relative to the current height in the Z direction by position d. z =(Z0+δ)-(M z -C z ), 200 meters away from the capsule endoscope, reaching the final state height M Z =Z0+δ+C z This causes the capsule endoscope 200 to fall and stop at the lower wall 302. During the downward movement of the capsule endoscope 200, it is constantly attracted by the magnetic force of the control magnet 11 on the right, generating a lateral force, thus causing it to move to... Figure 5A The position d in the diagram.

[0167] Through the above steps, the capsule endoscope 200 achieves a leap from position C to T in the XY plane by jumping in the Z direction. The entire movement of the capsule endoscope 200 is as follows... Figure 5B The positions from a to b to c are shown in the diagram.

[0168] In scene two, corresponding to jump four, the steps include:

[0169] Move the control magnet 11 to directly above the capsule endoscope 200;

[0170] The vertical coordinate of the control magnet 11 is M. Z =Z0-δ+C z ;

[0171] The control magnet 11 is moved a second distance in the horizontal plane. The new position of the control magnet 11 is the second position. That is to say, there is a second distance between the second position and the projection of the capsule endoscope 200 in the horizontal plane.

[0172] The control magnet 11 is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z Until the capsule endoscope 200 moves to the lower wall 302 and stops moving;

[0173] The control magnet 11 is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+Cz This causes the capsule endoscope 200 to be sucked up and stop at the upper wall 302.

[0174] like Figure 5C As shown in position 'a', in the previous control, the control magnet 11 has been moved to directly above the capsule endoscope 200, or, in order to determine the positions of C and T, the control magnet 11 is first moved to directly above the capsule endoscope 200. Then, the control magnet 11 is moved to directly above the target landing point T of the capsule endoscope 200, and the vertical coordinate of the control magnet 11 is set to M. Z =Z0-δ+C z And control the control magnet 11 to move a second distance in the horizontal plane, so as to ensure that when the control magnet 11 moves to Figure 5C At position b, the capsule endoscope 200 remains unaffected and is always adhered to the upper wall 301. Then, the magnet 11 is controlled to move upward relative to the upper wall 301 from its current height Mz by a distance d in the Z direction. z =(Z0+δ)-(M z -C z ) Move away from the capsule endoscope by 200, reaching the final state height M Z =Z0+δ+C z This causes the capsule endoscope 200 to fall downwards, stopping at the lower wall 302 of the digestive tract 300. During its descent, it is constantly attracted by the magnetic force of the control magnet 11 on the right, generating a lateral force, thus propelling it to a position similar to... Figure 5C Position c in the diagram. Finally, control magnet 11 to move downwards in the Z direction from its current height by position d. z =(Z0-δ)-(M z -C z ), approaching the capsule endoscope 200, reaching the final state height M Z =Z0-δ+C z This causes the capsule endoscope 200 to be attracted and stop at the upper wall 301. During the upward movement of the capsule endoscope 200, it is constantly attracted by the magnetic force of the control magnet 11 on the right, generating a lateral force, thus causing it to move to the upper wall 301. Figure 5C The position d in the diagram.

[0175] Through the above steps, the capsule endoscope 200 achieves a leap from position C to T in the XY plane by jumping in the Z direction. The entire movement of the capsule endoscope 200 is as follows... Figure 5D The positions from a to b to c are shown in the diagram.

[0176] The target position T corresponding to the first and second distances mentioned above can be set according to the control requirements of the inspection process. It is generally determined by a relative offset based on the position C, so that the capsule endoscope 200 can achieve a jump in the relative offset.

[0177] Furthermore, the first and second distances can be set relatively small, resulting in shorter jump distances and multiple jumps to the target position. Slowing down the movement speed of the control magnet 11 in the Z direction helps increase the flight time of the capsule endoscope 200, thereby increasing the jump distance of the capsule endoscope 200 in the XY directions and reducing the number of consecutive jumps required.

[0178] Furthermore, the control magnet 11 can be set as a permanent magnet. The aforementioned basic jump, mirror jump, and cross jump are completed under the traction of the permanent magnet. Through the aforementioned automated quantitative jump control method of the capsule endoscope 200 based on permanent magnet control, the quantitatively controllable spatial position and attitude transformation of the capsule endoscope 200 within the digestive tract 300 cavity can be realized.

[0179] Compared with the prior art, this embodiment has the following beneficial effects:

[0180] This control method enables efficient and precise control of the capsule endoscope 200's movement within the digestive tract 300, allowing it to traverse obstacle areas and achieve quantitative positional shifts and posture adjustments. It also facilitates rapid switching between the capsule endoscope's positions on the upper wall 301 and lower wall 302, enabling imaging of the target area. This achieves control effects currently difficult to attain manually, reducing unnecessary patient positioning and improving comfort during the examination. It significantly enhances the automation and efficiency of control, expands the quantitative control methods and functions of the capsule endoscope 200, and facilitates the expansion of application scenarios for the magnetically controlled capsule system 1000.

[0181] In one embodiment, a control device 10 for a magnetically controlled capsule system 1000 is provided. The magnetic control device 10 may include modules, and the specific functions of each module are as follows:

[0182] The acquisition module is used to acquire the coordinates of the capsule endoscope 200 [C]. x C y C z The critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet 11 and the capsule endoscope 200 when the control magnet 11 can attract the capsule endoscope 200;

[0183] The control module is configured to perform the following jump when the capsule endoscope 200 is located on the lower wall 302:

[0184] Move the control magnet 11 to directly above the capsule endoscope 200;

[0185] The vertical coordinate of the control magnet 11 is M. Z =Z0-δ+C z Until the capsule endoscope 200 moves to the upper wall 301;

[0186] or,

[0187] When the capsule endoscope 200 is located on the upper wall 301, the following jump two can be performed:

[0188] Move the control magnet 11 to directly above the capsule endoscope 200;

[0189] The vertical coordinate of the control magnet 11 is M. Z =Z0+δ+C z Until the capsule endoscope 200 moves to the lower wall 302.

[0190] Additionally, the control module can also be used to perform the following jump three when the capsule endoscope is located on the lower wall:

[0191] The control magnet is moved to a first position, which is a first distance from the capsule endoscope on the horizontal plane, and the vertical coordinate M of the first position is... Z =Z0+δ+C z ;

[0192] The control magnet is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall and stops moving;

[0193] The control magnet is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z This causes the capsule endoscope 200 to fall and stop at the lower wall 302.

[0194] Furthermore, the control module can also be used to perform the following jump four when the capsule endoscope is located on the upper wall:

[0195] The control magnet is moved to a second position, which is a second distance from the capsule endoscope on the horizontal plane, and the vertical coordinate M of the second position is... Z =Z0-δ+C z ;

[0196] The control magnet is controlled to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C zUntil the capsule endoscope moves to the lower wall and stops moving;

[0197] The control magnet is controlled to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z This causes the capsule endoscope 200 to be sucked up and stop at the upper wall 302.

[0198] It should be noted that for details not disclosed in the control device 10 of this embodiment, please refer to the details disclosed in the control method of this embodiment.

[0199] The magnetically controlled capsule system 1000 in this embodiment is as follows: Figure 6 As shown, the device may include a magnetic control system 100 and a capsule endoscope 200. In addition to the aforementioned camera module 60, capsule magnet 50, and sensor module, the capsule endoscope 200 also includes a signal transmission module 70 that is communicatively connected to the camera module 60. The signal transmission module 70 transmits information to an external processing module 40 or server. After the external drive moves the capsule endoscope 200 to a designated position, the camera module 60 takes a picture of the inside of the digestive tract 300 and transmits it to the outside through the signal output module, thus completing the internal imaging.

[0200] The magnetic control system 100 includes, in addition to the control magnet 11 and control device 10 mentioned above, a signal transmission module 20, a communication bus 80, a storage module 30, and a processing module 40. The signal transmission module 70 and the signal transmission module 20 can transmit data wirelessly, such as via Bluetooth, Wi-Fi, or Zigbee. The communication bus 80 is used to establish a connection between the control device 10, the signal transmission module 20, the processing module 40, and the storage module 30. The communication bus 80 may include a path for transmitting information between the control device 10, the signal transmission module 20, the processing module 40, and the storage module 30.

[0201] The magnetically controlled capsule system 1000 may further include computing devices such as computers, laptops, handheld computers, and cloud servers, as well as, but not limited to, a processing module 40, a storage module 30, and a computer program stored in the storage module 30 and executable on the processing module 40, such as the control method program described above. When the processing module 40 executes the computer program, it implements the steps in the various control method embodiments described above, for example... Figure 1 The steps are shown.

[0202] In addition, the present invention also proposes an electronic device, which includes a storage module 30 and a processing module 40. When the processing module 40 executes the computer program, it can implement the steps in the control method of the magnetically controlled capsule system 1000 described above, that is, implement the steps in any one of the technical solutions in the control method of the magnetically controlled capsule system 1000 described above.

[0203] The electronic device may be part of the control device 10 integrated into the magnetic capsule system 1000, or a local terminal device, or part of a cloud server.

[0204] The processing module 40 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processing module 40 is the control center of the control device 10 of the magnetically controlled capsule system 1000, connecting various parts of the control device 10 of the entire magnetically controlled capsule system 1000 via various interfaces and lines.

[0205] The storage module 30 can be used to store the computer programs and / or modules. The processing module 40 realizes various functions of the control device 10 of the magnetically controlled capsule system 1000 by running or executing the computer programs and / or modules stored in the storage module 30 and calling the data stored in the storage module 30. The storage module 30 may mainly include a program storage area and a data storage area, wherein the program storage area may store the operating system, at least one application program required for a function, etc. In addition, the storage module 30 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0206] For example, the computer program can be divided into one or more modules / units, which are stored in the storage module 30 and executed by the processing module 40 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the control device 10 of the magnetically controlled capsule system 1000.

[0207] Furthermore, one embodiment of the present invention provides a readable storage medium storing a computer program. When the computer program is executed by the processing module 40, it can implement the steps in the control method of the magnetically controlled capsule system 1000 described above, that is, implement the steps in any one of the technical solutions in the control method of the magnetically controlled capsule system 1000 described above.

[0208] If the control method module of the magnetically controlled capsule system 1000 is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processing module 40, it can implement the steps of the various method embodiments described above.

[0209] The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording media, U disks, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0210] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0211] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area, the detection area having an upper wall and a lower wall, characterized in that, The control device includes: The acquisition module is used to acquire the coordinates of the capsule endoscope [C]. x C y C z The critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet and the capsule endoscope when the control magnet can lift the capsule endoscope; The control module is configured to perform the following jump when the capsule endoscope is located on the lower wall: Move the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall; or, When the capsule endoscope is located on the upper wall, the following jump two can be performed: Move the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall.

2. The control device according to claim 1, characterized in that, The method for calculating the critical height distance is as follows: ,in, Let V be the density of the liquid medium in which the capsule endoscope is located, V be the volume of the capsule endoscope, and g be the gravitational acceleration constant. Let M be the mass of the capsule endoscope, and m be the magnetic moments of the control magnet and the magnet inside the capsule endoscope, respectively. Let r be the center distance between the control magnet and the magnet inside the capsule endoscope. is the vacuum permeability.

3. The control device according to claim 1, characterized in that, The method for obtaining the critical height distance includes the following steps: Move the control magnet directly above the capsule endoscope, and move the control magnet relatively away from the capsule endoscope so that the capsule endoscope is not attracted. Rotate the control magnet to a vertical position; The control magnet is moved vertically toward the capsule endoscope; When the capsule endoscope begins to move away from the lower wall, the height difference between the capsule endoscope and the control magnet is recorded at this time, and the height difference is the critical height distance.

4. The control device according to claim 1, characterized in that, The jump one also includes: Move the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is M. Z =Z0+δ+C z ; Rotate the control magnet to adjust the imaging direction of the capsule endoscope to the target direction; The vertical coordinate of the control magnet is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall.

5. The control device according to claim 1, characterized in that, The second jump also includes: Move the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is M. Z =Z0-δ+C z ; Rotate the control magnet to adjust the imaging direction of the capsule endoscope to the target direction; The vertical coordinate of the control magnet is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall.

6. The control device according to claim 4 or 5, characterized in that, The imaging direction of the capsule endoscope needs to be adjusted to rotate 180° vertically, the control magnet needs to be rotated 180° vertically, and the N and S poles of the control magnet need to be swapped vertically.

7. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area, the detection area having an upper wall and a lower wall, characterized in that, The control device includes: The acquisition module is used to acquire the coordinates of the capsule endoscope [C]. x C y C z The critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet and the capsule endoscope when the control magnet can lift the capsule endoscope; The control module is configured to perform the following jump three when the capsule endoscope is located on the lower wall: The control magnet is moved to a first position, which is a first distance from the projection of the capsule endoscope onto the horizontal plane, and the vertical coordinate M of the first position is... Z =Z0+δ+C z ; The control module is used to control the control magnet to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z Until the capsule endoscope moves to the upper wall and stops moving; The control module is used to control the control magnet to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z This causes the capsule endoscope to fall and stop at the lower wall.

8. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area, the detection area having an upper wall and a lower wall, characterized in that, The control device includes: The acquisition module is used to acquire the coordinates of the capsule endoscope [C]. x C y C z The critical height distance Z0 and the preset redundancy distance δ, wherein the critical height distance is the maximum distance between the control magnet and the capsule endoscope when the control magnet can lift the capsule endoscope; The control module is configured to perform the following jump four when the capsule endoscope is located on the upper wall: The control magnet is moved to a second position, which is a second distance from the projection of the capsule endoscope onto the horizontal plane, and the vertical coordinate M of the second position is... Z =Z0-δ+C z ; The control module is used to control the control magnet to move upward to a new position, the vertical coordinate of which is M. Z =Z0+δ+C z Until the capsule endoscope moves to the lower wall and stops moving; The control module is used to control the control magnet to move downwards to a new position, the vertical coordinate of which is M. Z =Z0-δ+C z This causes the capsule endoscope to be sucked up and stop at the upper wall.

Images