Three-dimensional space-based magnetically controlled capsule endoscope driving method, device and medium

Abstract

The present invention relates to the field of medical device technology, and more specifically to a method, device, and medium for driving a magnetically controlled capsule endoscope based on three-dimensional space. The method comprises: determining the relationship between the magnetic force and the driving angle on the magnetically controlled capsule endoscope based on the positional relationship between an external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in a dipole model; determining the horizontal force on the magnetically controlled capsule endoscope based on a force analysis of the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, wherein the horizontal force is the difference between the horizontal magnetic force and the friction force; determining the range of the driving angle when the horizontal force is greater than or equal to zero; and driving the magnetically controlled capsule endoscope based on the range of the driving angle. In the present invention, by driving the magnetically controlled capsule endoscope with an external permanent magnet within the determined driving angle range, it is possible to ensure that the magnetically controlled capsule endoscope is stably driven.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a three-dimensional space-based magnetically controlled capsule endoscope driving method, device and medium. Background Art

[0002] Recently, remotely controlled capsule robots have been explored for interventional surgery. Notably, magnetically controlled capsule robots (also known as magnetically controlled capsule endoscopes) have shown great promise in navigating the complex intestine by applying remote magnetic fields. A magnetically controlled capsule endoscope typically consists of a non-magnetized outer shell and a magnet. By applying an external magnetic field, the magnetically controlled capsule endoscope can be guided to the desired position. Therefore, establishing a force model and a dynamic model of the magnetically controlled capsule endoscope is crucial for accurately controlling and navigating the magnetically controlled capsule endoscope in the intestine.

[0003] At present, a large number of theoretical models and numerical analyses of magnetically controlled capsule endoscopy mainly focus on the application of uniform magnetic fields. However, the generation of uniform magnetic fields requires complex electromagnetic coils, which are limited by the size of the workspace, the strength of the magnetic field, and the efficiency of the cooling system. In contrast, permanent magnets, as an effective alternative, can generate strong magnetic fields in a larger workspace, thereby increasing the driving force and operational freedom. Current research on the use of permanent magnets to generate magnetic fields to control and navigate magnetically controlled capsule endoscopy mainly focuses on the magnetic dragging strategy. Due to the directionality of the magnetic force, this strategy may cause the magnetically controlled capsule endoscopy to generate excessive pulling force under the attraction of the permanent magnet, which may cause the capsule to be pulled toward the permanent magnet uncontrollably, thereby causing deformation of the tissue.

[0004] Therefore, the use of rotating permanent magnets to generate rotating magnetic fields to drive magnetically controlled capsule endoscopes has become a current hot topic. This method reduces the impact of changes in the distance between the external permanent magnet and the magnetically controlled capsule endoscope on the driving effect through the action of magnetic force and torque. However, current experiments are mainly limited to verifying fixed driving angles and propulsion forces in two-dimensional space. Although this two-dimensional driving strategy facilitates the observation and analysis of the coupling between the permanent magnet and the magnetically controlled capsule endoscope, due to the complexity of the intestine in clinical operations, fixed-angle driving strategies are difficult to implement stably, so an effective and flexible driving strategy is challenging. Summary of the Invention

[0005] In view of this, the present invention provides a three-dimensional space-based magnetically controlled capsule endoscope driving method, device and medium to solve the problem in the prior art that it is difficult to stably implement the magnetically controlled capsule endoscope using a fixed driving angle in two-dimensional space.

[0006] In the first aspect, the present invention provides a method for driving a magnetically controlled capsule endoscope based on three-dimensional space, the method comprising: determining the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope based on the positional relationship between an external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in a dipole model; determining the horizontal force exerted on the magnetically controlled capsule endoscope based on a force analysis when the magnetically controlled capsule endoscope is rotationally driven by an external permanent magnet, the horizontal force being the difference between the horizontal magnetic force and the friction force; determining the range of the driving angle when the horizontal force is greater than or equal to zero; and driving the magnetically controlled capsule endoscope based on the range of the driving angle.

[0007] In the present invention, the magnetic force exerted on a magnetically controlled capsule endoscope by an external permanent magnet is analyzed in three-dimensional space to determine the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the drive angle. Force analysis is then performed on the magnetically controlled capsule endoscope to determine the magnetic force that can drive the magnetically controlled capsule endoscope. Furthermore, the range of the drive angle is determined based on the relationship between the magnetic force and the drive angle. Thus, the external permanent magnet drives the magnetically controlled capsule endoscope within this drive angle range, ensuring stable drive of the magnetically controlled capsule endoscope.

[0008] In an optional embodiment, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope is determined, including: determining the rotation axis of the external permanent magnet during rotational drive based on the rotation axis of the magnetically controlled capsule endoscope, and determining the magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determining the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope; determining the relationship between the magnetic force and the driving angle exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle.

[0009] In an optional embodiment, the driving angle includes a first driving angle and a second driving angle. The relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula:

[0010]

[0011] Where, F m Indicates the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F zThey represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a represents the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0012] In an optional embodiment, based on a force analysis of the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, the horizontal force acting on the magnetically controlled capsule endoscope is determined, including: performing a force analysis based on the magnetic force, friction force and gravity acting on the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, and determining the z-axis force and y-axis force acting on the magnetically controlled capsule endoscope, where the z-axis force is the difference between the magnetic force and gravity acting on the magnetically controlled capsule endoscope in the z-axis direction, and the y-axis force is the magnetic force acting on the magnetically controlled capsule endoscope in the y-axis direction; determining the friction force acting on the magnetically controlled capsule endoscope based on the z-axis force, y-direction force and friction coefficient; and determining the x-axis force acting on the magnetically controlled capsule endoscope according to the difference between the magnetic force and friction force acting on the magnetically controlled capsule endoscope in the x-axis direction, where the x-axis force is a horizontal force.

[0013] In an optional embodiment, the range of the driving angle is determined based on the horizontal force being greater than or equal to zero, including: based on the relationship between the magnetic force and the driving angle acted upon by the magnetically controlled capsule endoscope, determining the range of the driving angle corresponding to the case where the difference between the magnetic force and the friction force acted upon by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero.

[0014] In an optional embodiment, the magnetically controlled capsule endoscope is driven based on the range of the driving angle, including: determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; determining the acceleration of the movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; determining the speed at the current moment based on the acceleration of the movement at the current moment and the speed at the previous moment; and determining the position of the magnetically controlled capsule endoscope at the next moment based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

[0015] In an optional embodiment, the method further includes: determining the theoretical torque applied to the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the position vector; and determining the torque applied to the magnetically controlled capsule endoscope based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet.

[0016] In second aspect, the present invention provides a magnetically controlled capsule endoscope driving device based on three-dimensional space, the device including: a rotation driving module, used to determine the relationship between the magnetic force and driving angle exerted on the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational driving, combined with the relationship between the magnetic field and the magnetic moment in the dipole model; a force analysis module, used to determine the horizontal force exerted on the magnetically controlled capsule endoscope based on the force analysis when the magnetically controlled capsule endoscope is rotationally driven by the external permanent magnet, the horizontal force being the difference between the horizontal magnetic force and the friction force; a driving angle determination module, used to determine the range of the driving angle when the horizontal force is greater than or equal to zero; and a driving module, used to drive the magnetically controlled capsule endoscope based on the range of the driving angle.

[0017] In a third aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the three-dimensional space-based magnetically controlled capsule endoscope driving method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0019] In a fifth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a schematic flow chart of a three-dimensional space-based magnetically controlled capsule endoscope driving method according to an embodiment of the present invention;

[0022] FIG2( a ) is a schematic diagram of the force relationship of a magnetically controlled capsule endoscope under a three-dimensional rotational driving strategy according to an embodiment of the present invention;

[0023] FIG2( b ) is a schematic diagram of the force relationship of the yz plane deflection angle β under the three-dimensional space rotation driving strategy according to an embodiment of the present invention;

[0024] Figure 3(a) to Figure 3(c) is a schematic diagram of the change of magnetic force under different driving angles α and β according to an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of the relationship between the friction force and the driving angle of a magnetically controlled capsule endoscope according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the relationship between the driving capability and the driving angle of a magnetically controlled capsule endoscope according to an embodiment of the present invention;

[0027] Figure 6 is a structural block diagram of a three-dimensional space-based magnetically controlled capsule endoscope driving device according to an embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0030] According to an embodiment of the present invention, an embodiment of a magnetically controlled capsule endoscope driving method based on three-dimensional space is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] In this embodiment, a three-dimensional space-based magnetically controlled capsule endoscope driving method is provided, which can be used in electronic devices such as computers, mobile phones, tablet computers, etc. Figure 1 FIG. 1 is a flow chart of a method for driving a magnetically controlled capsule endoscope based on three-dimensional space according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0032] Step S101 , based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, determines the relationship between the magnetic force and the driving angle on the magnetically controlled capsule endoscope.

[0033] First, it should be noted that this driving method is for driving in three-dimensional space. That is, the external permanent magnet and the magnetically controlled capsule endoscope are not on the same horizontal plane, or in other words, there are deviations between the centers of the external permanent magnet and the magnetically controlled capsule endoscope in the horizontal, vertical, and longitudinal directions. For example, if a spatial rectangular coordinate system is established with the center of the magnetically controlled capsule endoscope as the center of the circle, the x-axis coordinates, y-axis coordinates, and z-axis coordinates of the center coordinates of the magnetically controlled capsule endoscope and the center coordinates of the external permanent magnet may all be different.

[0034] Secondly, the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope specifically refers to the relative positional relationship between the two. In addition, the rotation axis refers to an imaginary straight line around which the permanent magnet rotates. This straight line usually passes through the geometric center of the permanent magnet and is perpendicular to the magnetic moment direction of the permanent magnet. The rotation axis here includes the rotation axis of the external permanent magnet and the rotation axis of the magnetically controlled capsule endoscope. When the external permanent magnet rotates to drive the magnetically controlled capsule endoscope, the rotation axes of the two need to satisfy a certain relationship so that the external permanent magnet generates a rotating magnetic field at the position of the magnetically controlled capsule endoscope, thereby achieving rotational drive. At the same time, it can be understood that rotational drive includes operation in two directions: rotation and translation. Among them, rotation refers to the rotation of the magnetically controlled capsule endoscope around a certain axis (rotation axis) of its own under the action of the magnetic field generated by the external permanent magnet, and translation refers to the forward or backward movement of the magnetically controlled capsule endoscope along the axis of the part to be inspected, such as the intestine, under the action of the magnetic field generated by the external permanent magnet.

[0035] In addition, in a magnetically controlled capsule endoscope, the permanent magnet inside the capsule can be regarded as a magnetic dipole. Therefore, a dipole model can be used to determine the magnetic field and magnetic moment applied by the external permanent magnet on the magnetically controlled capsule endoscope in combination with the magnetic moment of the external permanent magnet. Therefore, the magnetic force on the magnetically controlled capsule endoscope can be determined by combining the relative position of the external permanent magnet and the magnetically controlled capsule endoscope, the magnetic moment of the external permanent magnet, and the magnetic moment of the magnetically controlled capsule endoscope. Furthermore, the driving angle can be understood as the angle generated by the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope when the external permanent magnet rotates to drive the magnetically controlled capsule endoscope to move. Therefore, the driving angle can be used to represent the relative position of the two. Combined with the relationship between the magnetic force on the magnetically controlled capsule endoscope and the relative position, the relationship between the magnetic force and the driving angle can be determined.

[0036] Step S102: Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet for rotation, the horizontal force on the magnetically controlled capsule endoscope is determined. The horizontal force is the difference between the horizontal magnetic force and the friction force. Specifically, when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, it is affected by magnetic force, gravity, and friction. The friction force is specifically the friction between the magnetically controlled capsule endoscope and the intestine when it moves in the area to be inspected, such as the intestine. Then, a force analysis can be performed based on the magnetic force, gravity, and friction force, and the force can be decomposed to obtain the force on the magnetically controlled capsule endoscope in the horizontal direction, that is, the horizontal force.

[0037] Step S103: Determine the range of the drive angle when the horizontal force is greater than or equal to zero. Specifically, to enable the magnetically controlled capsule endoscope to move under the drive of an external permanent magnet, the horizontal force applied to the magnetically controlled capsule endoscope must be greater than or equal to zero, that is, the horizontal magnetic force must be greater than or equal to the maximum static friction (which can be calculated using sliding friction). Therefore, based on the relationship between the magnetic force applied to the magnetically controlled capsule endoscope and the drive angle, the range of the drive angle corresponding to the horizontal magnetic force being greater than the maximum static friction can be determined.

[0038] Step S104: driving the magnetically controlled capsule endoscope based on the range of the driving angle. Specifically, after the range of the driving angle is determined, in actual application, the driving angle can be maintained within the range to drive the magnetically controlled capsule endoscope with the external permanent magnet, thereby ensuring stable driving of the magnetically controlled capsule endoscope.

[0039] The method for driving a magnetically controlled capsule endoscope provided in an embodiment of the present invention analyzes the magnetic force exerted on the magnetically controlled capsule endoscope by an external permanent magnet in three-dimensional space to determine the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle. Force analysis is then performed on the magnetically controlled capsule endoscope to determine the magnetic force capable of driving the magnetically controlled capsule endoscope. Furthermore, the range of the driving angle is determined based on the relationship between the magnetic force and the driving angle. Thus, the external permanent magnet drives the magnetically controlled capsule endoscope within this driving angle range, ensuring stable driving of the magnetically controlled capsule endoscope.

[0040] In this embodiment, a method for driving a magnetically controlled capsule endoscope based on three-dimensional space is provided. The process includes the following steps:

[0041] Step S201 , based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model, determines the relationship between the magnetic force acting on the magnetically controlled capsule endoscope and the driving angle.

[0042] Specifically, the above step S201 includes:

[0043] In step S2011, the rotation axis of the external permanent magnet during rotational driving is determined based on the rotation axis of the magnetically controlled capsule endoscope, and the magnetic moment of the external permanent magnet is determined based on the rotation axis of the external permanent magnet. Specifically, in order to facilitate the analysis of the magnetically controlled capsule endoscope, this embodiment establishes a spatial rectangular coordinate system with the center of the magnetically controlled capsule endoscope as the origin, as shown in FIG2(a). The origin of the spatial rectangular coordinate system is P c The center of the external permanent magnet is denoted as P a Assuming that the magnetically controlled capsule endoscope and the external permanent magnet have an ideal rotation axis The initialization direction is aligned with the +x axis, where Available θ cy ,θ cz express:

[0044]

[0045] Where Rot represents rotation, θ cy It represents the angle of deflection along the Y axis in the XZ plane when the magnetically controlled capsule endoscope rotates around the rotation axis, θ cz It indicates the deflection angle along the Z axis in the XY plane when the magnetically controlled capsule endoscope rotates around the rotation axis.

[0046] At the same time, in order to c Surrounded by A rotating magnetic field is generated at the external permanent magnet. It can be calculated using the following formula:

[0047]

[0048] Where I3 represents the identity matrix, express The unit vector of the direction, The direction represents the relative position of the external permanent magnet and the magnetically controlled capsule endoscope.

[0049] Furthermore, if the magnetic moment of the external permanent magnet The unit vector initialization direction is parallel to the +z axis, and θ ax is the magnetic moment around its axis of rotation During rotation, the angle of deflection along the X axis in the YZ plane is It can be calculated as:

[0050]

[0051] Where θ ay is the magnetic moment around its axis of rotation During rotation, the angle of deflection along the Y axis in the XZ plane, θ azis the magnetic moment around its axis of rotation During rotation, the angle of deflection along the Z axis in the XY plane.

[0052] Step S2012: determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope determined by the dipole model and the magnetic moment of the external permanent magnet and the rotation axis of the magnetically controlled capsule endoscope. a || represents the magnitude of the magnetic moment of the external permanent magnet. Based on the dipole model, the magnetic field applied to the magnetically controlled capsule endoscope can be calculated using the following formula:

[0053]

[0054] Where μ0 represents the spatial magnetic permeability.

[0055] Furthermore, the magnetic moment of the magnetically controlled capsule endoscope The calculation is done using the following formula:

[0056]

[0057] Step S2013, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope, the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope is determined; specifically, as shown in FIG2(a) and FIG2(b), point N is the center P of the external permanent magnet. a The rotation axis of the magnetically controlled capsule endoscope The projection point on a The line connecting point N and the rotation axis of the magnetically controlled capsule endoscope Vertically, from point P a , point N and point P c The plane in which it lies is denoted as plane U. represents the relative position vector between the external permanent magnet and the magnetically controlled capsule endoscope, The angle between the U plane and the normal vector U is the first driving angle α. The angle between the external permanent magnet and the magnetically controlled capsule endoscope is d, so Assumptions The initialization unit vector is (0 0 -1) T , and with α, β, θ cy ,θ cz Rotate to get the actual Unit vector:

[0058]

[0059] Furthermore, if the center point P of the external permanent magnet aThe projection of (0,y,z) on the z axis is (0,0,z), r m for Projection on the XZ plane, l is P a The distance to point O satisfies thus, It can be expressed as:

[0060]

[0061] Step S2014: Determine the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle. Specifically, the external permanent magnet generates a magnetic field in space, which acts on the internal permanent magnet of the magnetically controlled capsule endoscope, generating a magnetic force F m and torque T m .

[0062]

[0063] T m =μ0m a ×H

[0064] Where μ0 is the spatial magnetic permeability, m a is the dipole moment of the permanent magnet inside the magnetically controlled capsule endoscope, and H is the magnetic field generated by the external permanent magnet.

[0065] Based on this, as well as the magnetic moment of the external permanent magnet and the magnetic moment of the magnetically controlled capsule endoscope, the magnetic force on the magnetically controlled capsule endoscope can be obtained as:

[0066]

[0067] Then, according to the relationship between the above position vector and the driving angle, the magnetic force of the magnetically controlled capsule endoscope can be expressed by the following formula:

[0068]

[0069] Where, F m Indicates the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F z They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a represents the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0070] Step S202 : Based on the force analysis of the magnetically controlled capsule endoscope when it is rotationally driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined, where the horizontal force is the difference between the horizontal magnetic force and the friction force.

[0071] Specifically, the above step S202 includes:

[0072] Step S2021, based on the magnetic force, friction force and gravity that the magnetically controlled capsule endoscope is subjected to when it is driven by the external permanent magnet for rotation, a force analysis is performed to determine the z-axis force and the y-axis force that the magnetically controlled capsule endoscope is subjected to. The z-axis force is the difference between the magnetic force and gravity that the magnetically controlled capsule endoscope is subjected to in the z-axis direction, and the y-axis force is the magnetic force that the magnetically controlled capsule endoscope is subjected to in the y-axis direction. Specifically, when the magnetically controlled capsule endoscope is driven by the external permanent magnet for rotation, the force on the intestinal tract is as follows: Figure 1 , expressed as:

[0073]

[0074] Where, F m is the magnetic force on the magnetically controlled capsule endoscope, F f is the friction force, F G is gravity. m ce is the mass of the magnetically controlled capsule endoscope, and a is the acceleration in the horizontal direction.

[0075] The force on the magnetically controlled capsule endoscope is divided into the z-axis force F z , x-axis force F x and the force F in the y-axis direction y :

[0076] ∑F z =F mz -F G

[0077] ∑F y =F my

[0078] ∑F x =F mx -F f =m ce a

[0079] In step S2022, the friction force on the magnetically controlled capsule endoscope is determined based on the z-axis force, the y-axis force, and the friction coefficient. Specifically, according to the relationship between the forces in each direction, the friction force can be calculated using the following formula:

[0080]

[0081] Step S2023: Determine the x-axis force on the magnetically controlled capsule endoscope based on the difference between the magnetic force and the friction force on the magnetically controlled capsule endoscope in the x-axis direction. The x-axis force is a horizontal force. Specifically, substituting the friction force into the x-axis force, the x-axis force can be expressed as:

[0082]

[0083] Step S203, determining the range of the driving angle based on the horizontal force being greater than or equal to zero;

[0084] Specifically, the above step S203 includes:

[0085] Step S2031: Based on the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope, a range of driving angles corresponding to the condition in which the difference between the magnetic force and the friction force of the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero is determined. Specifically, in order for the magnetically controlled capsule endoscope to be driven, the horizontal magnetic force of the magnetically controlled capsule endoscope must be greater than or equal to the maximum static friction force, that is, the following formula must be satisfied:

[0086]

[0087] At the same time, by combining the above relationship between the magnetic force and the driving angle and substituting it into this formula, the corresponding ranges of the driving angles α and β can be obtained.

[0088] Step S204: driving the magnetically controlled capsule endoscope based on the range of the driving angle.

[0089] Specifically, the above step S204 includes:

[0090] Step S2041, determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; specifically, when driving the magnetically controlled capsule endoscope, a driving angle that satisfies two driving angle ranges can be selected within the range of the driving angle, and based on the current positional relationship between the magnetic capsule endoscope and the external permanent magnet, the relationship between the magnetic force and the driving angle is brought into play to obtain the magnetic force on the magnetically controlled capsule endoscope at the current moment, and the horizontal force on the magnetically controlled capsule endoscope is determined in combination with the horizontal magnetic force in the magnetic force and the friction force.

[0091] Step S2042: Determine the acceleration of the movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope and the mass of the magnetically controlled capsule endoscope. Specifically, the acceleration a(t) of the movement at the current moment can be calculated using the following formula:

[0092] a(t)=F ∥ (t) / m ce

[0093] Where, F ∥ (t) is the horizontal force acting on the magnetically controlled capsule endoscope.

[0094] Step S2043: Determine the current speed based on the current acceleration and the previous speed. Specifically, the current speed can be calculated using the following formula:

[0095] v(t)=∫a(t)dt+v0

[0096] Where v0 represents the velocity at the previous moment, and v(t) represents the velocity at the current moment. It should be noted that the velocity at the initial moment is zero.

[0097] Step S2044: Determine the position of the magnetically controlled capsule endoscope at the next moment based on the current speed and the current position of the magnetically controlled capsule endoscope. Specifically, the position s(t) of the magnetically controlled capsule endoscope at the next moment can be calculated using the following formula:

[0098] s(t)=∫v(t)dt+s0

[0099] Where s0 represents the position at the initial moment.

[0100] In this embodiment, a method for driving a magnetically controlled capsule endoscope based on three-dimensional space is provided, and the method includes the following steps:

[0101] Step S301: Based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, and in combination with the relationship between the magnetic field and the magnetic moment in the dipole model, the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle is determined; for details, see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0102] Step S302: Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined. The horizontal force is the difference between the horizontal magnetic force and the friction force. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0103] Step S303: Determine the range of the driving angle when the horizontal force is greater than or equal to zero; see Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0104] Step S304: Drive the magnetically controlled capsule endoscope based on the range of the driving angle. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0105] Step S305, determining the theoretical torque applied to the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the position vector; when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, determining the torque applied to the magnetically controlled capsule endoscope based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0106] Specifically, based on the analysis of step S2014 in the previous embodiment, the theoretical torque on the magnetically controlled capsule endoscope is expressed as:

[0107]

[0108] In actual applications, the torque applied by the rotation of the external permanent magnet drives the magnetically controlled capsule endoscope with a threaded shell to rotate synchronously. The threaded shell rubs against the intestine, thereby generating a friction torque. Based on this, the torque applied to the magnetically controlled capsule endoscope is expressed as:

[0109] |T ce |=|T m |-|T f |=Jε

[0110] Where J is the moment of inertia, ε is the angular acceleration during rotation, T f is the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0111] As a specific application example of the embodiment of the present invention, a simulation analysis may be performed based on the above-mentioned three-dimensional space-based magnetically controlled capsule endoscope driving method.

[0112] First, based on the determined range of the driving angle, the relationship between the driving angle and the magnetic force can be analyzed. For example, When β = (0° to 50°) and α = (0° to 50°), the magnetic force acting on the magnetically controlled capsule endoscope changes, as shown in Figure 3(a), Figure 3(b) and Figure 3(c).

[0113] The magnetic force in the X-axis direction (Figure 3(a)) exhibits a typical trend of increasing first and then decreasing, particularly when the drive angle α reaches approximately 21°, where the X-axis magnetic force reaches its peak. At this point, changes in the β angle have no significant effect on the peak position. The magnetic force in the Y-axis direction (Figure 3(b)) shows a decreasing trend as the α angle increases, reaching its maximum value when the β angle approaches 31°. As the β angle increases from 0° to 31°, the Y-axis magnetic force gradually increases, but begins to weaken after the β angle exceeds 31°. This indicates that the β angle has a much greater impact on the Y-axis magnetic force than on the X-axis. In actual operation, the Y-axis magnetic force can be effectively controlled by adjusting the β angle, especially to achieve the maximum Y-axis magnetic force around 31°. The magnetic force in the Z-axis direction (Figure 3(c)) is relatively straightforward. As the β angle increases, the Z-axis magnetic force gradually decreases, and near α = 21° and β = 31°, the Z-axis magnetic force is almost zero. This indicates that under this angle combination, the force in the Z-axis direction hardly participates in the movement of the capsule endoscope, and the force on the system is mainly concentrated in the X-axis and Y-axis directions.

[0114] Because the capsule endoscope moves in the X-axis while rotating in the Y and Z-axes, the sliding friction in the system cannot be ignored. In particular, the interaction between friction and magnetic forces in the Y and Z-axes determines whether the capsule can overcome the resistance of the tube's inner wall and maintain smooth movement.

[0115] Secondly, the relationship between the driving angle and the friction force can be analyzed. Based on the relationship between the friction force and the driving angle of the magnetically controlled capsule endoscope shown in the figure, the horizontal friction force is calculated. Assume that the magnetically controlled capsule endoscope F G =0.7mN, the changing trend of horizontal friction force with driving angle α under different driving angles β, as shown in Figure 4 It can be seen that when the angle β is less than 30°, the friction force first decreases and then increases with the increase of the driving angle α, forming a clear trough. This trend is related to the vertical magnetic force of the magnetically controlled capsule endoscope in the Z-axis direction. When the driving angle α is around 23°, the magnetic force of the magnetically controlled capsule endoscope in the Z-axis direction just offsets the gravity of the capsule endoscope, making the force in the vertical direction zero. Therefore, at this angle, the friction force reaches its lowest value.

[0116] In addition, the change in β angle has a significant effect on friction, especially when β angle is less than 30°. When β angle gradually increases to 30°, friction begins to increase and no longer shows a trough trend. This is consistent with the trend of the Y-axis magnetic force reaching its maximum value at around β = 31° as analyzed previously. In other words, when β angle approaches 31°, the magnetic force in the Y-axis direction is enhanced, thereby increasing horizontal friction, which becomes more obvious after β angle exceeds 30°. The simulation results provide a theoretical basis for subsequent experiments, which can find the appropriate range of α and β angles to ensure that the capsule endoscope can overcome gravity and friction in the intestinal environment.

[0117] Thirdly, the driving position range in three-dimensional space can also be analyzed. When analyzing, the horizontal magnetic force F is specifically calculated. x Greater than or equal to sliding friction F f Under these conditions, the relationship between the driving angles α and β in three-dimensional space is as follows: Figure 5 As shown in the figure, the two curves in the figure represent the minimum and maximum values ​​of the driving angle α under different driving angles β. The highlighted area in the figure represents the driving angle α range within which the magnetically controlled capsule endoscope can be started from a stationary state and switched to a moving state when the driving angle β is in the range of 0° to 45°. As the driving angle β increases, the driving angle α range that can drive the magnetically controlled capsule endoscope gradually decreases. When β>45°, the driving effect will not be sufficient to drive the capsule endoscope. Therefore, in Figure 5 Any combination of α and β within the area of ​​medium and high light can effectively drive the movement of the magnetically controlled capsule endoscope.

[0118] This embodiment also provides a magnetically controlled capsule endoscope drive device for implementing the aforementioned embodiments and preferred embodiments. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented using software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0119] This embodiment provides a three-dimensional magnetically controlled capsule endoscope driving device. Figure 6 As shown, including:

[0120] The rotation drive module 61 is used to determine the relationship between the magnetic force and the drive angle of the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model;

[0121] a force analysis module 62 for determining a horizontal force on the magnetically controlled capsule endoscope based on a force analysis of the magnetically controlled capsule endoscope when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, wherein the horizontal force is the difference between the horizontal magnetic force and the friction force;

[0122] A driving angle determination module 63 is configured to determine a range of a driving angle when the horizontal force is greater than or equal to zero;

[0123] The driving module 64 is configured to drive the magnetically controlled capsule endoscope based on a range of a driving angle.

[0124] In an optional embodiment, the rotational drive module is specifically used to: determine the rotational axis of the external permanent magnet during rotational drive based on the rotational axis of the magnetically controlled capsule endoscope, and determine the magnetic moment of the external permanent magnet based on the rotational axis of the external permanent magnet; determine the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotational axis of the magnetically controlled capsule endoscope; determine the relationship between the position vector and the driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope; determine the relationship between the magnetic force acting on the magnetically controlled capsule endoscope and the driving angle based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle.

[0125] In an optional embodiment, the driving angle includes a first driving angle and a second driving angle. The relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula:

[0126]

[0127] Where, F m Indicates the magnetic force on the magnetically controlled capsule endoscope, F x ,F y ,F z They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, μ0 represents the spatial magnetic permeability, and m a represents the magnetic moment of the external permanent magnet, m c represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, α represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet, and β represents the second driving angle, which is the angle between the connection plane between the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

[0128] In an optional embodiment, the force analysis module is specifically used to: perform force analysis based on the magnetic force, friction force and gravity that the magnetically controlled capsule endoscope is subjected to when it is driven by an external permanent magnet to determine the z-axis force and y-axis force that the magnetically controlled capsule endoscope is subjected to, where the z-axis force is the difference between the magnetic force and gravity that the magnetically controlled capsule endoscope is subjected to in the z-axis direction, and the y-axis force is the magnetic force that the magnetically controlled capsule endoscope is subjected to in the y-axis direction; determine the friction force that the magnetically controlled capsule endoscope is subjected to based on the z-axis force, y-direction force and friction coefficient; determine the x-axis force that the magnetically controlled capsule endoscope is subjected to based on the difference between the magnetic force and friction force that the magnetically controlled capsule endoscope is subjected to in the x-axis direction, where the x-axis force is a horizontal force.

[0129] In an optional embodiment, the range of the driving angle is determined based on the horizontal force being greater than or equal to zero, including: based on the relationship between the magnetic force and the driving angle acted upon by the magnetically controlled capsule endoscope, determining the range of the driving angle corresponding to the case where the difference between the magnetic force and the friction force acted upon by the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero.

[0130] In an optional embodiment, the magnetically controlled capsule endoscope is driven based on the range of the driving angle, including: determining the horizontal force on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; determining the acceleration of the movement at the current moment based on the horizontal force on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; determining the speed at the current moment based on the acceleration of the movement at the current moment and the speed at the previous moment; and determining the position of the magnetically controlled capsule endoscope at the next moment based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

[0131] In an optional embodiment, the device also includes: a torque determination module, which is specifically used to determine the theoretical torque exerted on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the position vector; when the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, the torque exerted on the magnetically controlled capsule endoscope is determined based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

[0132] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0133] The embodiment of the present invention also provides a computer device having the above Figure 6 The three-dimensional space-based magnetically controlled capsule endoscope driving device is shown.

[0134] See also Figure 7 , Figure 7 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 7As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0135] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0136] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0137] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0138] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0139] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0140] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0141] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0142] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A three-dimensional space-based magnetically controlled capsule endoscope driving method, characterized in that: The method comprises: Based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and magnetic moment in the dipole model, the relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle is determined. Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the horizontal force on the magnetically controlled capsule endoscope is determined, where the horizontal force is the difference between the horizontal magnetic force and the friction force; determining a range of the driving angle based on the horizontal force being greater than or equal to zero; driving the magnetically controlled capsule endoscope based on the range of the driving angle; Based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space, as well as the relationship between the rotation axes during rotational drive, and combined with the relationship between the magnetic field and magnetic moment in the dipole model, the relationship between the magnetic force and the drive angle on the magnetically controlled capsule endoscope is determined, including: determining a rotation axis of an external permanent magnet during rotational driving based on a rotation axis of the magnetically controlled capsule endoscope, and determining a magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determining a relationship between a position vector and a driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on a positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and a magnetic moment of the magnetically controlled capsule endoscope; Determining the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle; The driving angle includes a first driving angle and a second driving angle. The relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula: Where, Indicates the magnetic force on the magnetically controlled capsule endoscope. They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, represents the spatial magnetic permeability, represents the magnetic moment of the external permanent magnet, represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet. represents the second driving angle, which is the angle between the connecting plane of the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

2. The method according to claim 1, characterized in that Based on the force analysis of the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the horizontal forces acting on the magnetically controlled capsule endoscope are determined, including: Based on the force analysis of the magnetic force, friction force and gravity exerted on the magnetically controlled capsule endoscope when it is driven by an external permanent magnet, the z-axis force and y-axis force exerted on the magnetically controlled capsule endoscope are determined. The z-axis force is the difference between the magnetic force and gravity exerted on the magnetically controlled capsule endoscope in the z-axis direction, and the y-axis force is the magnetic force exerted on the magnetically controlled capsule endoscope in the y-axis direction. determining the friction force exerted on the magnetically controlled capsule endoscope based on the z-axis direction force, the y-axis direction force, and the friction coefficient; The x-axis force on the magnetically controlled capsule endoscope is determined according to the difference between the magnetic force and the friction force on the magnetically controlled capsule endoscope in the x-axis direction, where the x-axis force is a horizontal force.

3. The method according to claim 2, characterized in that Determining the range of the driving angle based on the horizontal force being greater than or equal to zero includes: Based on the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope, a range of the driving angle corresponding to when the difference between the magnetic force and the friction force of the magnetically controlled capsule endoscope in the x-axis direction is greater than or equal to zero is determined.

4. The method according to claim 1, wherein Driving a magnetically controlled capsule endoscope based on the range of the driving angle includes: determining the horizontal force exerted on the magnetically controlled capsule endoscope at the current moment based on the range of the driving angle and the position of the magnetically controlled capsule endoscope at the current moment; determining the acceleration of the movement at the current moment based on the horizontal force exerted on the magnetically controlled capsule endoscope at the current moment and the mass of the magnetically controlled capsule endoscope; Determine the current speed based on the acceleration of the current movement and the speed at the previous moment; The position of the magnetically controlled capsule endoscope at the next moment is determined based on the speed at the current moment and the position of the magnetically controlled capsule endoscope at the current moment.

5. The method according to claim 1, wherein The method further comprises: determining a theoretical torque on the magnetically controlled capsule endoscope based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the position vector; When the magnetically controlled capsule endoscope is driven to rotate in the intestine by the external permanent magnet, the torque applied to the magnetically controlled capsule endoscope is determined based on the theoretical torque and the friction torque between the magnetically controlled capsule endoscope and the intestine.

6. A three-dimensional magnetically controlled capsule endoscope driving device, characterized in that: The device comprises: A rotation drive module is used to determine the relationship between the magnetic force and the drive angle of the magnetically controlled capsule endoscope based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and the magnetic moment in the dipole model; a force analysis module, configured to determine a horizontal force exerted on the magnetically controlled capsule endoscope based on a force analysis of the magnetically controlled capsule endoscope when the magnetically controlled capsule endoscope is driven by an external permanent magnet for rotation, wherein the horizontal force is the difference between the horizontal magnetic force and the friction force; a driving angle determination module, configured to determine a range of the driving angle when the horizontal force is greater than or equal to zero; a driving module, configured to drive the magnetically controlled capsule endoscope based on the range of the driving angle; Among them, based on the positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope in three-dimensional space and the relationship between the rotation axes during rotational drive, combined with the relationship between the magnetic field and magnetic moment in the dipole model, the relationship between the magnetic force and the driving angle of the magnetically controlled capsule endoscope is determined, including: determining a rotation axis of an external permanent magnet during rotational driving based on a rotation axis of the magnetically controlled capsule endoscope, and determining a magnetic moment of the external permanent magnet based on the rotation axis of the external permanent magnet; determining the magnetic moment of the magnetically controlled capsule endoscope based on the relationship between the magnetic field on the magnetically controlled capsule endoscope and the magnetic moment of the external permanent magnet determined by the dipole model and the rotation axis of the magnetically controlled capsule endoscope; determining a relationship between a position vector and a driving angle between the external permanent magnet and the magnetically controlled capsule endoscope based on a positional relationship between the external permanent magnet and the magnetically controlled capsule endoscope and a magnetic moment of the magnetically controlled capsule endoscope; Determining the relationship between the magnetic force exerted on the magnetically controlled capsule endoscope and the driving angle based on the magnetic moment of the external permanent magnet, the magnetic moment of the magnetically controlled capsule endoscope, and the relationship between the position vector and the driving angle; The driving angle includes a first driving angle and a second driving angle. The relationship between the magnetic force on the magnetically controlled capsule endoscope and the driving angle is expressed by the following formula: Where, Indicates the magnetic force on the magnetically controlled capsule endoscope. They represent the magnetic forces on the x-axis, y-axis and z-axis of the magnetically controlled capsule endoscope, represents the spatial magnetic permeability, represents the magnetic moment of the external permanent magnet, represents the magnetic moment of the magnetically controlled capsule endoscope, represents the position vector between the external permanent magnet and the magnetically controlled capsule endoscope, represents the first driving angle, which is the angle between the position vector and the normal vector of the external permanent magnet. represents the second driving angle, which is the angle between the connecting plane of the external permanent magnet and the magnetically controlled capsule endoscope and the magnetic moment of the magnetically controlled capsule endoscope.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the three-dimensional space-based magnetically controlled capsule endoscope driving method according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the three-dimensional space-based magnetically controlled capsule endoscope driving method according to any one of claims 1 to 5.

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