Method for controlling a magnetically controlled capsule system, positioning method and device

Abstract

The application discloses a kind of magnetic control capsule system control method, positioning method and device, control method includes the following steps: continuously obtaining the measurement state data of capsule endoscope;Control control magnet moves until magnetic field state data maximum, And / or the capsule vertical inclination angle of capsule endoscope is minimum;Correct the capsule spin angle of capsule endoscope, so that the direction of capsule endoscope movement or attitude adjustment is consistent with the direction on the image obtained by capsule endoscope.This method can be without relying on positioning equipment, only relying on the measurement state data obtained by capsule endoscope, can make the moving direction of subsequent capsule endoscope and the direction on the image obtained is consistent, that is, it can be based on the first perspective of the image of capsule endoscope Control capsule endoscope, so that the movement or attitude adjustment of capsule endoscope can be accurately controlled.

Description

Technical Field

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

[0002] In vivo device positioning technologies, such as wireless capsule endoscopes and invasive medical devices, are receiving increasing attention. Magnetically controlled capsule systems use a drive to control the movement of a magnet, generating magnetic force to move the capsule endoscope within the body. During this movement, the capsule endoscope captures images of the digestive tract. Currently, there are two main types of control methods for driving capsule endoscopes: manual simulation control relying on visual feedback from the capsule's images, and automated quantitative control utilizing the capsule's positioning information.

[0003] In the process of developing this invention, the inventors discovered that these two control methods have at least the following problems:

[0004] (1) Manual simulation control has low precision and it is difficult to accurately control the capsule endoscope to take images of a certain position. Moreover, since the images of many positions in the digestive tract are highly similar, and the capsule endoscope is almost unrestrained in the stomach cavity, the operator is required to accurately identify and control the movement of the capsule endoscope. This results in low efficiency and a high possibility of missed detection.

[0005] (2) Automated quantitative control requires real-time positional information fed back by positioning equipment. It requires hardware and software that are compatible with the positioning equipment and has high requirements for the equipment. If the equipment conditions cannot be met, the movement and photography of the capsule endoscope cannot be accurately controlled.

[0006] Therefore, the current control methods are still insufficient and cannot adequately meet the needs of medical examinations. Summary of the Invention

[0007] In order to solve at least one of the above-mentioned problems in the prior art, the present invention aims to provide a control method, positioning method and device for a magnetically controlled capsule system that can precisely control the movement of a capsule endoscope without relying on a positioning device.

[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 including a control magnet and a capsule endoscope, the control method including the following steps:

[0009] Step S10: Continuously acquire measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data;

[0010] Step S20: Control the control magnet to move within the same height and adjust the position of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data;

[0011] Step S30: Correct the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image acquired by the capsule endoscope.

[0012] As a further improvement of the present invention, step S20 includes:

[0013] The magnetization direction of the control magnet is controlled to be vertical;

[0014] Within a plane perpendicular to the vertical direction, while keeping the magnetization direction unchanged, the control magnet is controlled to translate, wherein the translation is a movement along a direction that gradually decreases the vertical tilt angle of the capsule and / or gradually increases the magnetic field state data.

[0015] As a further improvement of the present invention, the step of controlling the translation of the control magnet includes:

[0016] The movement of the control magnet is controlled by coordinating the magnetic field state data and the vertical tilt angle of the capsule.

[0017] As a further improvement of the present invention, the step of controlling the movement of the control magnet in conjunction with the magnetic field state data and the vertical tilt angle of the capsule includes:

[0018] During the process of controlling the movement of the control magnet, if the vertical tilt angle of the capsule remains unchanged, the control magnet continues to move until the vertical tilt angle of the capsule changes;

[0019] During the process of controlling the movement of the control magnet, if the vertical tilt angle of the capsule increases and the magnetic field state data decreases, the control magnet is controlled to move in the opposite direction.

[0020] As a further improvement of the present invention, after step S20, the following step is also included:

[0021] The height of the capsule endoscope is calculated based on the magnetic field state data.

[0022] Adjust the height of the control magnet so that the height of the capsule endoscope is within the set range.

[0023] As a further improvement to the present invention, the following steps are also included:

[0024] Step S40: Acquire image data captured by the capsule endoscope;

[0025] Step S50: While keeping the position of the control magnet unchanged, adjust the attitude of the control magnet to obtain multiple peripheral image data outside the field of view corresponding to the image data;

[0026] Step S60: Combine the image data and the peripheral image data to obtain extended image data.

[0027] As a further improvement of the present invention, step S50 includes:

[0028] While keeping the position of the control magnet unchanged, the attitude of the control magnet is adjusted so that the position of the capsule endoscope remains unchanged, and only the attitude is adjusted;

[0029] The attitude of the control magnet is adjusted so that the capsule endoscope moves toward a target direction, wherein the target direction is the direction of expansion from the field of view corresponding to the image data to the field of view corresponding to the peripheral image data.

[0030] As a further improvement of the present invention, step S50 further includes:

[0031] The attitude of the control magnet is adjusted so that the newly acquired peripheral image data retains the image within the field of view corresponding to a portion of the image data, while also including the image outside the field of view corresponding to the image data.

[0032] As a further improvement of the present invention, the step of adjusting the attitude of the control magnet includes:

[0033] Obtain the expected movement of the field of view of the capsule endoscope;

[0034] The attitude adjustment amount of the capsule endoscope is calculated based on the expected movement of the field of view;

[0035] The attitude adjustment amount of the control magnet is calculated based on the attitude adjustment amount of the capsule endoscope;

[0036] The control magnet is controlled to adjust the corresponding change amount according to the attitude adjustment amount of the control magnet.

[0037] As a further improvement of the present invention, the plurality of peripheral image data includes peripheral image data at eight positions: above, below, left, right, upper left, upper right, lower left, and lower right.

[0038] As a further improvement to the present invention, the following steps are also included:

[0039] Step S70: Control the movement of the control magnet to move the capsule endoscope to the next control node;

[0040] Step S80: Based on the continuous execution of step S10, repeat steps S20 to S70 until the inspection is completed.

[0041] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a positioning method for a magnetically controlled capsule system, the magnetically controlled capsule system including a control magnet and a capsule endoscope, the positioning method comprising the following steps:

[0042] Continuously acquire measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data;

[0043] The control magnet is controlled to move within the same height, and the position and orientation of the control magnet are adjusted until the magnetic field state data is maximized, and / or the capsule vertical tilt angle of the capsule endoscope is minimized, wherein the capsule vertical tilt angle is calculated based on the acceleration data;

[0044] Acquire the magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet attitude data;

[0045] The capsule position data of the capsule endoscope is determined based on the current magnet position data;

[0046] The capsule orientation data of the capsule endoscope is determined based on the current measurement status data and the magnet orientation data.

[0047] As a further improvement of the present invention, the step of determining the capsule position data of the capsule endoscope based on the current magnet position data includes:

[0048] The x-axis coordinate of the capsule endoscope is the same as the x-axis coordinate of the control magnet;

[0049] The y-axis coordinate of the capsule endoscope is the same as the y-axis coordinate of the control magnet;

[0050] The z-axis coordinate of the capsule endoscope is calculated based on the magnetic field state data.

[0051] As a further improvement of the present invention, the capsule attitude data includes the capsule horizontal azimuth angle, the capsule vertical tilt angle, and the capsule spin angle, and the magnet attitude data includes the magnet horizontal azimuth angle;

[0052] When the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, the capsule vertical tilt angle is zero.

[0053] The step of determining the capsule attitude data of the capsule endoscope based on the current measurement status data and the magnet attitude data further includes:

[0054] Calculate the capsule spin angle based on the acceleration data;

[0055] After the magnetic field state data reaches its maximum and / or the capsule endoscope's vertical tilt angle reaches its minimum, the following steps are performed:

[0056] Adjust the attitude of the control magnet so that the vertical tilt angle of the capsule is not zero;

[0057] The horizontal azimuth angle of the capsule is equal to the horizontal azimuth angle of the magnet.

[0058] 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 including a control magnet and a capsule endoscope, the control device comprising:

[0059] The capsule state acquisition module is used to continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0060] The pose adjustment module is used to control the movement of the control magnet within the same height and adjust the pose of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0061] The calibration module is used to correct the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope during movement or posture adjustment is consistent with the direction on the image acquired by the capsule endoscope.

[0062] To achieve one of the above-mentioned objectives, an embodiment of the present invention provides a positioning device for a magnetically controlled capsule system, the magnetically controlled capsule system including a control magnet and a capsule endoscope, the positioning device comprising:

[0063] The capsule state acquisition module is used to continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0064] The pose adjustment module is used to control the movement of the control magnet within the same height and adjust the pose of the control magnet until the magnetic field state data is maximized and / or the capsule vertical tilt angle of the capsule endoscope is minimized, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0065] A magnet state acquisition module is used to acquire magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet attitude data;

[0066] The capsule position calculation module is used to determine the capsule position data of the capsule endoscope based on the current magnet position data;

[0067] The capsule posture calculation module is used to determine the capsule posture data of the capsule endoscope based on the current measurement state data and the magnet posture data.

[0068] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides an electronic device, comprising:

[0069] Storage module, used to store computer programs;

[0070] The processing module, when executing the computer program, can implement the steps in the control method of the magnetically controlled capsule system or the positioning method of the magnetically controlled capsule system described above.

[0071] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a readable storage medium storing a computer program that, when executed by a processing module, can implement the steps in the control method or positioning method of the magnetically controlled capsule system described above.

[0072] Compared with the prior art, the present invention has the following beneficial effects: (1) The control method of the magnetically controlled capsule system can be used without relying on the positioning equipment, but only on the measurement state data obtained by the capsule endoscope. This allows the direction of subsequent movement or posture adjustment of the capsule endoscope to be consistent with the direction on the acquired image. In other words, the movement or posture adjustment of the capsule endoscope can be controlled based on the first perspective of the capsule endoscope image. The capsule endoscope can be controlled in a "what you want is what you get" manner, thereby accurately controlling the adjustment of the capsule endoscope, reducing the need for physician skills, meeting the skill requirements of more physicians, and thus facilitating the promotion and application of the magnetically controlled capsule system.

[0073] (2) Based on the first-view control of the capsule endoscope image, the capsule endoscope can acquire images within the required field of view, thereby improving the efficiency of the examination and avoiding the problem of missed detection, thus meeting the needs of physicians.

[0074] (3) Without relying on positioning equipment, the capsule endoscope is positioned by first controlling the magnet to reach directly above the capsule endoscope, thus meeting the requirements for precise control. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of the structure of a magnetically controlled capsule system according to an embodiment of the present invention during gastrointestinal examination.

[0076] Figure 2a This is a schematic diagram of magnet state data of a control magnet according to an embodiment of the present invention;

[0077] Figure 2b This is a schematic diagram of the measurement status data of a capsule endoscope according to an embodiment of the present invention;

[0078] Figure 3 This is a flowchart of the control method of the magnetically controlled capsule system according to the first embodiment of the present invention;

[0079] Figure 4 yes Figure 3 A flowchart of one specific implementation of step S20;

[0080] Figure 5 This is a characteristic diagram showing the variation of the capsule's vertical tilt angle Cv and the magnetic field state data B with position according to an embodiment of the present invention;

[0081] Figure 6a This is a schematic diagram of the field of view orientation of a capsule endoscope according to an embodiment of the present invention;

[0082] Figure 6b This is a schematic diagram of the spin correction of a capsule endoscope according to an embodiment of the present invention;

[0083] Figure 7 This is a schematic diagram of the capsule endoscope of the first embodiment of the present invention adjusting its direction based on a first field of view;

[0084] Figure 8 This is a flowchart of the control method of the magnetically controlled capsule system according to the second embodiment of the present invention;

[0085] Figure 9 yes Figure 8 A flowchart of one specific implementation of step S50;

[0086] Figure 10a This is a schematic diagram of the structure of step S40 performed by the capsule endoscope in the second embodiment of the present invention at the bottom of the digestive tract;

[0087] Figure 10b This is a schematic diagram of the structure of step S50 performed by the capsule endoscope in the second embodiment of the present invention at the bottom of the digestive tract;

[0088] Figure 11a This is a schematic diagram of the structure of step S40 performed by the capsule endoscope in the second embodiment of the present invention at the top of the digestive tract;

[0089] Figure 11b This is a schematic diagram of the structure of step S50 performed by the capsule endoscope in the second embodiment of the present invention at the top of the digestive tract;

[0090] Figure 12 This is a schematic diagram of the lens field of view angle distribution of the capsule endoscope according to the second embodiment of the present invention;

[0091] Figure 13 This is a schematic diagram of the lens movement path of the capsule endoscope during step S50 of the second embodiment of the present invention;

[0092] Figure 14 This is a rendering of the extended image data obtained according to the second embodiment of the present invention;

[0093] Figure 15 This is a flowchart of the positioning method of the magnetically controlled capsule system according to the third embodiment of the present invention;

[0094] Figure 16 This is a schematic diagram of the control device of the magnetically controlled capsule system according to the first embodiment of the present invention;

[0095] Figure 17 This is a schematic diagram of the control device of the magnetically controlled capsule system according to the second embodiment of the present invention;

[0096] Figure 18 This is a schematic diagram of the positioning device of the magnetically controlled capsule system according to the third embodiment of the present invention;

[0097] Figure 19 This is a structural block diagram of a magnetically controlled capsule system according to an embodiment of the present invention;

[0098] Among them, 100 is the magnetically controlled capsule system; 10 is the capsule endoscope; 11 is the inertial measurement unit; 12 is the camera unit; 13 is the data processing and transmission unit; 14 is the power supply unit; 15 is the permanent magnet unit; 20 is the magnetic control system; 21 is the control magnet; 22 is the motor drive device; 23 is the signal transmission module; 24 is the storage module; 25 is the processing module; and 26 is the communication bus. Detailed Implementation

[0099] 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.

[0100] One embodiment of the present invention provides a control method, positioning method, and apparatus for a magnetically controlled capsule system that can precisely control the movement of a capsule endoscope without relying on a positioning device.

[0101] Magnetically controlled capsule system

[0102] The magnetically controlled capsule system of this embodiment may include a capsule endoscope 10 and a magnetic control system. The magnetic control system includes a control magnet 21, which can drive the capsule endoscope 10 to move, such as... Figure 1As shown, the capsule endoscope 10 can be located in the digestive tract, and the control magnet 21 controls the movement of the capsule endoscope 10 in the digestive tract, for example, in the stomach, and takes images of the stomach.

[0103] There can be both magnetic force interaction and information data interaction between the capsule endoscope 10 and the magnetic control system. The magnetic control system also includes a motor drive device, which is used to control the movement of the control magnet 21. During the movement, the drive device can acquire the magnet state data of the control magnet 21, including magnet position data and magnet attitude data. It can also control the control magnet 21 to move to the expected position and the expected attitude.

[0104] The capsule endoscope 10 includes a permanent magnet unit and a lens. The permanent magnet unit has an axially magnetized cylindrical structure, and the lens is used to capture images. A motor-driven device controls the movement of the control magnet 21, which in turn applies a magnetic force to the permanent magnet unit, thereby controlling the movement of the capsule endoscope 10. When the capsule endoscope 10 is located inside the human digestive tract, the human body lies flat on a bed. A magnetic control system is located outside the body. During the examination, the motor-driven device drives the control magnet 21 to move, generating a magnetic field that drives the capsule endoscope 10 to move within the digestive tract. The magnetic control system can also send signals to the capsule endoscope 10 instructing when to capture images.

[0105] The capsule endoscope 10 also includes an inertial measurement unit (IMU), which includes a triaxial accelerometer, a gyroscope, and a triaxial magnetometer. The inertial measurement unit provides necessary navigation information feedback, enabling more accurate and convenient intelligent control of the capsule endoscope based on inertial navigation. The control method based on the first-view perspective of inertial navigation is described in detail below.

[0106] Furthermore, before introducing the specific methods, we will first explain the spatial coordinates. The specific values ​​in Examples 1, 2, and 3 of this article can all be calculated based on this coordinate system.

[0107] like Figure 2a As shown, a Cartesian world coordinate system is established for the space where the magnetically controlled capsule system is located. Through the control system software, the magnet state data of the control magnet 21 can be acquired in real time. This magnet state data includes magnet position data and magnet attitude data. The magnet position data is [Mx, My, Mz], and the magnet attitude data is [Mh, Mv]. Here, [Mx, My, Mz] represents the position offset of the center of the control magnet 21 in the world coordinate system, Mh is the horizontal azimuth angle, and M... vThe vertical tilt angle is the angle between the magnetic field of the control magnet 21 and the attitude orientation axis. The magnetic field of the control magnet 21 has rotational symmetry at the far end. The attitude orientation has two independent degrees of freedom. The attitude orientation angle of the N pole of the control magnet 21 is determined by the horizontal azimuth angle and the vertical tilt angle, as shown in Figure 2. The horizontal azimuth angle is the angle between the magnetic pole orientation of the control magnet 21 and the projection vector of the XY plane of the coordinate system and the positive Y-axis. The vertical tilt angle is the angle between the magnetic pole orientation of the control magnet 21 and the positive Z-axis of the coordinate system.

[0108] like Figure 2b As shown, the parameters of the capsule endoscope 10 are also based on this world coordinate system, including the component data of the inertial measurement unit [gx,gy,gz, wx,wy,wz, bx,by,bz], where [gx,gy,gz] represent the three-axis components of the accelerometer; [wx,wy,wz] represent the three-axis components of the gyroscope; and [bx,by,bz] represent the three-axis components of the magnetometer. Theoretically, the pose of the capsule endoscope 10 includes capsule position data [Cx,Cy,Cz] and capsule attitude data [Ch,Cv,Cs]. Specifically, the angle between the head orientation of the capsule endoscope 10 and the positive Z-axis is defined as the capsule vertical tilt angle Cv; the angle between the projection vector of the head orientation of the capsule endoscope 10 onto the XY plane and the positive Y-axis is defined as the capsule horizontal azimuth angle Ch; and the capsule spin angle Cs is the orientation angle of the lens of the capsule endoscope 10. In addition, due to the lack of positioning equipment, capsule position data and capsule attitude data cannot be obtained directly.

[0109] Preferably, a coordinate system is established with the capsule lens of the capsule endoscope 10 as a reference. The direction along the major axis pointing towards the lens is the Z-axis, the plane perpendicular to the Z-axis is the XY plane, and the Y-axis direction is fixed at the direction where the lens is upright. At this time, the capsule spin angle Cs = 0. During the assembly of the capsule endoscope 10, the XY coordinates of the capsule lens and the inertial measurement unit can be aligned to eliminate the need for subsequent correction of the capsule spin angle. That is, if coordinate alignment is not performed, it can be compensated and corrected in subsequent steps.

[0110] The following is combined Figures 1-15 This invention describes the control and positioning methods of a magnetically controlled capsule system according to an embodiment, divided into three embodiments: Embodiment 1 controls the capsule endoscope 10 to move or adjust its posture along the direction of the first viewing angle of the image acquired by the capsule endoscope 10. Embodiment 2 controls the capsule endoscope 10 to acquire images within the required field of view along the direction of the first viewing angle. Embodiment 3 acquires the pose information of the capsule endoscope 10 when no positioning data is provided by a positioning device.

[0111] In Example 1, the method steps of Example 1 can be completed solely based on the acceleration data and / or magnetic field state data obtained by the inertial measurement unit.

[0112] In Example 1, the capsule spin angle Cs is fixed. In Example 2, it can be calculated based on only two parameters: the capsule vertical tilt angle Cv and the capsule horizontal azimuth angle Ch, combined with the magnet attitude data [Mh,Mv] of the control magnet.

[0113] In both Example 1 and Example 2, it is not necessary to calculate the capsule position data [Cx,Cy,Cz].

[0114] Example 3 can determine the 6DOF integrity parameters [Cx,Cy,Cz,Ch,Cv,Cs] of the capsule endoscope.

[0115] Although this application provides method operation steps as shown in the following embodiments or flowcharts, the execution order of steps that do not logically have a necessary causal relationship, based on conventional or non-inventive effort, is not limited to the execution order provided in the embodiments of this application. For example, the acquisition order of step S10 and other steps below can be arbitrarily adjusted, without distinguishing the chronological order.

[0116] Example 1: One control method for a magnetically controlled capsule system

[0117] Example 1 Figures 3-7 As shown, a control method for a magnetically controlled capsule system is introduced.

[0118] Specifically, such as Figure 3 As shown, it includes the following steps:

[0119] Step S10: Continuously acquire measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data.

[0120] Step S20: Control the control magnet to move within the same height and adjust the position and orientation of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0121] Step S30: Correct the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image acquired by the capsule endoscope.

[0122] First, in step S10, the acceleration data is [gx, gy, gz] obtained by the accelerometer above, and the magnetic field state data is [bx, by, bz] obtained by the magnetometer above. Additionally, the measurement state data may also include [wx, wy, wz] obtained by the gyroscope. The measurement state data is continuously acquired real-time data, which is updated as time progresses in subsequent steps to facilitate the calculation of state parameters, state feedback, and capsule control operations required for implementing subsequent steps.

[0123] In addition, considering that the magnetic field values measured by the magnetometer include three sources: the environmental background magnetic field, the capsule magnet background magnetic field, and the control magnet magnetic field. Since the relatively weak environmental background magnetic field can usually be ignored and the capsule magnet background magnetic field can be accurately deducted first, it is easy for the capsule magnetometer to isolate the relatively accurate net magnetic field value of the control magnet. That is to say, the magnetic field state data in this embodiment can be only the magnetic field generated by the control magnet, i.e., B = [bx, by, bz].

[0124] Secondly, in step S20, it is used to stably, accurately, and quickly move the control magnet directly above the capsule. Since when the control magnet is directly above the capsule endoscope, it provides the maximum control magnetic force to the capsule and can provide omnidirectional attitude control to the capsule, it is very beneficial.

[0125] Step S20 includes various implementation manners, including:

[0126] (1) Adjust the pose of the control magnet based on the direction that makes the magnetic field state data maximum;

[0127] (2) Adjust the pose of the control magnet based on the direction that makes the vertical tilt angle of the capsule minimum;

[0128] (3) Adjust the pose of the control magnet based on the direction that makes the magnetic field state data maximum and the vertical tilt angle of the capsule minimum.

[0129] Taking the two aspects of the maximum magnetic field state data and the minimum vertical tilt angle of the capsule in implementation manner (3) as an example for illustration, those skilled in the art can also understand the implementation principles of implementation manners (1) and (2) based on this illustration.

[0130] Refer Figure 4 As shown, step S20 further includes steps S21 to S23:

[0131] Step S21:协同所述磁场状态数据和所述胶囊垂直倾斜角,控制所述控制磁体的移动。

[0132] It should be noted that there is an unclear part in the original text for step S29: "协同所述磁场状态数据和所述胶囊垂直倾斜角,控制所述控制磁体的移动。", which may need further clarification in the original context to provide a more accurate translation. The above translation is based on the best understanding of the current text.In step S21, the magnetic field state data is directly determined according to B = [bx, by, bz] obtained by the magnetometer, and the capsule vertical tilt angle Cv can be determined according to [gx, gy, gz] obtained by the accelerometer. Specifically, the calculation formula for the capsule vertical tilt angle Cv is: , (Formula 1).

[0133] In the process of controlling the movement of the control magnet, the magnetization direction of the control magnet can be controlled to be in the vertical direction, and on the basis of keeping the magnetization direction unchanged in the plane perpendicular to the vertical direction, the control magnet is controlled to translate, where the translation is along the direction that gradually reduces the capsule vertical tilt angle and / or gradually increases the magnetic field state data.

[0134] Since the body types of users are generally the same, according to the system settings, the control magnet can be maintained at a certain height and only move on the XY plane. When it moves to directly above the capsule endoscope, it can ensure that the capsule endoscope will not be in a completely sunk or completely sucked state, but rather the bottom of the capsule endoscope supports the lower wall of the digestive tract, the top of the capsule endoscope is vertically upward, or the bottom of the capsule endoscope supports the upper wall of the digestive tract, and the top of the capsule endoscope is vertically downward. When the height of the control magnet remains unchanged and it only moves within the XY plane, the distributions of the capsule vertical tilt angle Cv and the magnetic field state data B are as Figure 5 shown.

[0135] Refer Figure 5 shown. Since when the control magnet is directly above the capsule endoscope, the capsule endoscope is vertically upward, at this time the capsule vertical tilt angle Cv approaches 0, and the amplitude value B of the control magnet magnetic field obtained at the magnetometer has a maximum value in the XY plane. If the capsule endoscope deviates from directly below the control magnet in any orientation in the XY plane, the capsule vertical tilt angle Cv will increase and the magnetic field state data B will decrease. Therefore, the distributions of the capsule vertical tilt angle Cv and the magnetic field state data B are rotationally symmetric about the Z-axis. How to gradually reduce the capsule vertical tilt angle Cv and / or gradually increase the magnetic field state data B is a convex optimization problem. According to the states and change trends of Cv and B, coordinating the magnetic field state data and the capsule vertical tilt angle, it is easy to quickly and accurately move the control magnet to directly above the capsule endoscope.

[0136] Furthermore, during the movement of the control magnet, if the vertical tilt angle of the capsule remains unchanged, the control magnet continues to move until the vertical tilt angle of the capsule changes. This indicates that the control magnet is far from the capsule endoscope, and the magnetic force acting on the capsule endoscope is weak. Therefore, the vertical tilt angle Cv of the capsule remains unchanged as the control magnet moves. The control magnet can continue to be driven closer to the capsule endoscope until the vertical tilt angle Cv changes to a certain extent. Then, the movement path is optimized by combining the magnetic field state data and the vertical tilt angle of the capsule, improving the efficiency and accuracy of the control magnet in finding the capsule.

[0137] If the vertical tilt angle of the capsule increases and the magnetic field state data decreases, the control magnet is controlled to move in the opposite direction.

[0138] Step S22: Determine whether the magnetic field state data is maximized and / or the capsule's vertical tilt angle is minimized.

[0139] If the result of step S22 is negative, return to step S21; if the result of step S22 is positive, proceed to step S23.

[0140] Step S23: Control the magnet to move directly above the capsule endoscope.

[0141] Furthermore, after step S20, preferably, the following step may also be included:

[0142] The height of the capsule endoscope is calculated based on the magnetic field state data.

[0143] Adjust the height of the control magnet so that the height of the capsule endoscope is within the set range.

[0144] As mentioned above, although maintaining the control magnet at a certain height can prevent the capsule endoscope from sinking completely to the bottom or being completely stuck to the top, once the magnet is moved directly above the capsule endoscope, the height difference between the capsule endoscope and the control magnet can be calculated, allowing for further height limitation. At this point, the formula for calculating the center height distance Z0 between the capsule endoscope and the control magnet is:

[0145] ,Right now; (Formula 2).

[0146] This allows for precise adjustment of the height difference Z0 between the control magnet and the capsule endoscope, providing an appropriate level of control magnetic force. This ensures that when imaging the upper part of the stomach, the capsule endoscope will not exceed a critical height distance and be sucked to the top of the stomach. It also allows for precise and rapid adjustment of the height difference between the control magnet and the capsule endoscope when necessary, ensuring the capsule endoscope is lifted and its position shifted between its bottom and top.

[0147] After step S20, since no restriction is placed on the capsule spin angle Cs, the value of Cs can be arbitrary. Step S30 is then executed to fix the value of Cs, thereby facilitating control of the capsule endoscope from its own first-angle perspective. Step S30 can be referenced... Figure 6a and 6b , Figure 6a This is a schematic diagram of the imaging field of view orientation, where H+ represents the positive direction of the horizontal axis of the image, and V+ represents the positive direction of the vertical axis of the image. Figure 6b In the process, when the directions of H+ and Hw are aligned and the directions of V+ and Vw are aligned, Cs=0, and the image can be corrected to the state of Cs=0.

[0148] During the calibration process in step S30, the value of the capsule spin angle can be obtained through the inertial measurement unit, and then corrected to Cs=0. (Formula 3).

[0149] In addition, considering the complex environment within the digestive tract, such as the presence of peristalsis in the stomach, the capsule endoscope may not be completely static. When calculating the capsule attitude angle, complementary filtering can be performed by combining the state information of the accelerometer and gyroscope to enhance the dynamic accuracy of the capsule attitude angle.

[0150] After completing the above steps S10~S30, without additional positioning equipment, the control magnet is positioned directly above the capsule endoscope. The subsequent operation of the control magnet can be directly based on the orientation of the captured image and the visual feedback for accurate directional control. In other words, the current image obtained is consistent with the upright orientation during the first-view observation. Adjusting the control based on the up, down, left, and right field of view of the current image conforms to the intuitive habits of the human eye.

[0151] When adjusting the capsule endoscope's orientation, moving it to the left will shift the lens to the left; moving it upwards will shift the lens upwards. The effect is similar for other orientations. A schematic diagram illustrating the capsule endoscope's orientation adjustment based on the first-person field of view is shown below. Figure 7 As shown, if it is necessary to adjust the posture of the capsule endoscope, based on this first viewpoint, along... Figure 7 By adjusting the posture in eight directions, the field of vision can be expanded.

[0152] When it is necessary to control the movement of the capsule endoscope, if the capsule endoscope is moved to the left, the capsule endoscope will move to the left; if the capsule endoscope is moved upward, the capsule endoscope will move upward; the control effect in other directions is similar.

[0153] Therefore, when controlling the capsule endoscope to adjust its posture or move, the direction of adjustment or movement is consistent with the human eye's observation habits, and the operation state is "what you think is what you get", achieving a stable effect of controlling the first-view perspective of the capsule endoscope.

[0154] Example 2: Another control method for a magnetically controlled capsule system

[0155] Example 2 Figures 8-14 As shown, these can be further steps that continue based on the "first-person perspective" control in Embodiment 1.

[0156] like Figure 8 As shown, the control method of the magnetically controlled capsule system in this embodiment, based on steps S10-S30 of embodiment 1, further includes the following steps S40-S80:

[0157] Step S40: Acquire image data captured by the capsule endoscope.

[0158] exist Figure 10a and 10b In the middle, the capsule endoscope 10 is located in the lower part of the stomach cavity (at the bottom), with the lens facing upwards to take pictures; Figure 11a and 11b In the middle, the capsule endoscope 10 is located in the upper part of the stomach cavity (suction top), with the lens pointing downwards to take pictures; Figure 10a and Figure 11a Step S40 corresponds to each of the two states. Additionally... Figure 10b and Figure 11b The following steps S50 correspond to the two states respectively.

[0159] Step S50: While keeping the position of the control magnet 21 unchanged, adjust the orientation of the control magnet 21 to obtain multiple peripheral image data outside the field of view corresponding to the image data.

[0160] Step S50 involves adjusting the orientation of the control magnet 21 while keeping its position unchanged, so that the position of the capsule endoscope 10 remains unchanged and only its orientation is adjusted; that is, step S50 involves quantitatively controlling the magnet orientation data [Mh, Mv] of the control magnet 21 to change the capsule orientation data [Ch, Cv] of the capsule endoscope 10.

[0161] The capsule endoscope 10 in this embodiment uses a fisheye lens, also known as a wide-angle lens, which has a large field of view (e.g., 140-160 degrees). The spherical scene is compressed and mapped onto a planar image. The angular distribution of the image is shown below. Figure 12 The numerical value represents the angle of deviation from the central axis of the field of view, and the square area is the actual image area acquired by the imaging unit.

[0162] like Figures 10a to 10b The changes, and Figures 11a to 11b The change in position allows the magnet 21 to adjust its posture within its original position, so that the lens of the capsule endoscope 10 faces different directions from its original position. The way the magnet 21 drives the lens to face different directions is similar to a person controlling themselves to remain stationary while their brain turns in different directions. Controlling the direction of brain movement is based on the first-person perspective of the content observed by the human eye. Therefore, this embodiment, for example... Figures 10a to 10b ,as well as Figures 11a to 11b The control process of the capsule endoscope 10 conforms to human eye habits and is more convenient to operate.

[0163] Step S50 further includes: adjusting the orientation of the control magnet 21 to move the field of view of the capsule endoscope 10 toward the target direction, wherein the target direction is the direction of expansion from the field of view corresponding to the image data to the field of view corresponding to the peripheral image data. Through this field of view adjustment, the capsule endoscope 10 can scan and capture images of the desired target area.

[0164] Furthermore, step S50 ensures that the newly obtained peripheral image data includes images outside the field of view corresponding to a portion of the image data, while retaining the images within that field of view.

[0165] In this embodiment, Figure 12 For example, the field of view angle shift is 20~30 degrees, which means Figure 12 A translation of approximately 1 / 4 scale is used, so that the central area of ​​the image after translation can retain about 50% to 80% of the image content before translation. This balances control efficiency and visual effect, and can significantly adjust the position of the field of view center without losing the reference target area, so as to achieve a better first-person view field of view translation control effect.

[0166] Furthermore, participants Figure 7 and 13 As shown, the image obtained in step S40 is the image in the center. Step S50 can continue to obtain multiple peripheral image data, which includes peripheral image data at eight positions above, below, left, right, upper left, upper right, lower left, and lower right of the image data, thereby expanding the small square area in the center into a large square area.

[0167] Furthermore, such as Figure 9 As shown, step S50 includes the following steps S51-S54:

[0168] Step S51: Obtain the expected movement of the field of view of the capsule endoscope.

[0169] Step S52: Calculate the attitude adjustment amount of the capsule endoscope based on the expected movement amount of the field of view.

[0170] Step S53: Calculate the attitude adjustment amount of the control magnet based on the attitude adjustment amount of the capsule endoscope.

[0171] Step S54: Control the control magnet to adjust the corresponding change amount according to the attitude adjustment amount of the control magnet.

[0172] Specifically, in step S51, the expected movement of the field of view can be considered as the translation [dh, dv] of the two-dimensional HV plane, where dh controls the horizontal translation of the field of view and dv controls the vertical translation of the field of view. After the field of view of the capsule endoscope is adjusted according to the expected movement of the field of view, the center of the lens's field of view can be oriented towards the new target location, realizing arbitrary directional adjustment of the capsule endoscope's field of view. For example... Figure 13 In the original view, the center of the lens's field of view was facing the middle box. The expected movement of the field of view can be used to adjust the center of the lens's field of view to face the box on the left.

[0173] For example, taking 20 degrees from the 20-30 degree field of view translation range mentioned above as an example, and requiring the making of... Figure 13 For the eight directions of translation (up, down, left, right, upper left, upper right, lower left, lower right), the expected movement of the field of view when the field of view is translated to the right is [20,0], the expected movement of the field of view when the field of view is translated to the left is [-20,0], the expected movement of the field of view when the field of view is translated upward is [0,-20], the expected movement of the field of view when the field of view is translated downward is [0,20], the expected movement of the field of view when the field of view is translated to the lower left is [-20,20], and so on.

[0174] In step S52, assuming the current capsule attitude data is [Ch, Cv], the required attitude adjustment of the capsule endoscope is [rh, rv] to achieve the expected field of view movement [dh, dv] in the HV plane. The calculation formulas for the three are as follows:

[0175] ;

[0176] The Euler angles used for auxiliary calculations are:

[0177] ;

[0178] After calculating the attitude adjustment amount [rh,rv] of the capsule endoscope according to the above formula, the adjusted attitude adjustment amount of the capsule endoscope is [Ch+rh,Cv+rv].

[0179] For example, if the current capsule orientation data is [Ch,Cv]=[50,40], and the expected movement of the field of view to the left is [dh,dv]=[-20,0], the corresponding orientation adjustment of the capsule endoscope is [rh,rv]=[-29.5,4.0]. In this case, the adjusted orientation data of the capsule endoscope is [20.5,44.0]. If the expected movement of the field of view to the upward is [dh,dv]=[0,-20], the corresponding orientation adjustment of the capsule endoscope is [rh,rv]=[0,-20], and the adjusted orientation data of the capsule endoscope is [50,20].

[0180] In step S53, the angle control model of the control magnet can be used to calculate the attitude adjustment amount of the control magnet based on the attitude adjustment amount [rh,rv] of the capsule endoscope, and adjust the value of the attitude data [Mh,Mv] of the control magnet.

[0181] In step S54, the relative angular translation of the expected movement [dh, dv] of the capsule's field of view in the first-person perspective is achieved, adjusting the center of the field of view to the target area, and then acquiring multiple peripheral image data in sequence, for example... Figure 13 The movement trajectory shown enables stable scanning and imaging of the digestive tract wall according to the operator's expected temporal correspondence, avoiding the difficulty of determining the location in local images lacking image context.

[0182] Step S60: Combine the image data and the peripheral image data to obtain extended image data.

[0183] This step can combine existing image registration and image stitching techniques to expand the field of view of the target area and extend the image data, such as... Figure 14 As shown, smaller image data is stitched together to form larger expanded image data.

[0184] Step S70: Control the movement of the control magnet to move the capsule endoscope to the next control node.

[0185] During the movement to the next control node, quantitative control of forward and backward movement can be performed based on the first perspective of the capsule endoscope in Example 1 above; or it can be controlled based on the calculated coordinate values ​​in Example 3 below.

[0186] The methods for controlling the capsule endoscope to move to the next control node can include dragging, rolling, or jumping, among which rolling and jumping control can achieve quantitative control with high quality.

[0187] Taking tumbling as an example, the tumbling action achieves a displacement of approximately one long axis circumference of the capsule endoscope forward and backward. For larger-scale movements, the tumbling action can be performed in multiple steps, moving a distance of n circumferences. For smaller-scale movements, a two-step zigzag path tumbling action can be used. After a successful tumbling action, the control magnet will be positioned directly above the new position of the capsule endoscope, allowing for the continuous execution of the first-view control adjustment and field-of-view image acquisition steps S40-S60. If the execution fails, the process can restart from step S20, restoring the control magnet to its original position directly above the capsule endoscope before resuming the tumbling action.

[0188] Taking the jumping motion as an example, the jumping action, combined with Formula 2 above, utilizes the quantitative offset of the XY plane and the height adjustment in the Z direction of the control magnet to lift and drop the capsule endoscope. Utilizing the centripetal characteristic of the magnetic field, the capsule endoscope follows the position of the control magnet and can traverse significant obstacles. After a successful jumping action, the control magnet is located directly above the new position of the capsule endoscope, allowing for the continuous execution of steps S40-S60 for first-view control adjustment and field-of-view image acquisition. Similarly, if the execution fails, it can restart from step S20 above, restoring the jumping action after the control magnet reaches directly above the capsule endoscope.

[0189] Step S80: Based on the continuous execution of step S10, repeat steps S20 to S70 until the inspection is completed.

[0190] Because the stomach, whether filled with water or air, has an irregular 3D cavity structure, the depth of field of the capsule endoscope is limited. It can only obtain relatively clear images of the stomach wall in local areas. It is necessary to scan multiple nodes at different locations to achieve a high-quality, complete examination of the stomach wall without omissions.

[0191] By moving the capsule endoscope to multiple different control nodes, taking pictures and stitching them together at each control node using steps S40 to S60, the first-person perspective capsule endoscope control conforms to human eye habits, obtaining complete images of various regions within the digestive tract, thus improving examination efficiency.

[0192] The criteria for determining the end of an inspection can be based on the completion of the inspection, the time of completion, or the instruction to complete the inspection.

[0193] Example 3: Positioning Method of Magnetically Controlled Capsule System

[0194] The difference between Example 3 and Example 1 is that Example 1 is for controlling the movement of the capsule endoscope based on the "first-person perspective", while Example 3 is for obtaining the pose information of the capsule endoscope without the need for positioning data provided by a positioning device.

[0195] like Figure 15 As shown, the positioning method includes the following steps:

[0196] Step S10: Continuously acquire measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data.

[0197] Step S20: Control the control magnet to move within the same height and adjust the position and orientation of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0198] Step S10': Obtain the magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet attitude data.

[0199] Step S10' can be performed simultaneously with step S10, or it can be continuously acquired.

[0200] Step S21: Determine the capsule position data of the capsule endoscope based on the current magnet position data.

[0201] After step S20, the magnet is positioned directly above the capsule endoscope. At this point:

[0202] The x-axis coordinate of the capsule endoscope is the same as the x-axis coordinate of the control magnet;

[0203] The y-axis coordinate of the capsule endoscope is the same as the y-axis coordinate of the control magnet;

[0204] The z-axis coordinate of the capsule endoscope is calculated based on the magnetic field state data.

[0205] For example, if both Mx and My are 0, then Cx = Cy = 0, and Cz = -Z0, where the formula for calculating Z0 is shown in Formula 2 above.

[0206] Step S22: Determine the capsule orientation data of the capsule endoscope based on the current measurement status data and the magnet orientation data.

[0207] Here, the capsule attitude data includes the capsule horizontal azimuth angle, the capsule vertical tilt angle, and the capsule spin angle; the magnet attitude data includes the magnet horizontal azimuth angle.

[0208] The capsule vertical tilt angle is zero when the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum.

[0209] At this point, the vertical tilt angle Cv of the capsule does not necessarily have to be exactly 0, as mentioned above; it can be a value close to 0.

[0210] When the control magnet is positioned directly above the capsule endoscope, the capsule endoscope is almost parallel to the Z-axis. At this point, the horizontal azimuth angle of the capsule can be any value and has no practical significance or impact.

[0211] The step of determining the capsule attitude data of the capsule endoscope based on the current measurement status data and the magnet attitude data further includes:

[0212] The capsule spin angle is calculated based on the acceleration data.

[0213] After the magnetic field state data reaches its maximum and / or the capsule endoscope's vertical tilt angle reaches its minimum, the following steps are performed:

[0214] Adjust the attitude of the control magnet so that the vertical tilt angle of the capsule is not zero;

[0215] The horizontal azimuth angle of the capsule is equal to the horizontal azimuth angle of the magnet.

[0216] At this point, the capsule's vertical tilt angle Cv can be calculated according to Formula 1 above, the capsule's spin angle Cs can be calculated according to Formula 3 above, and the capsule's horizontal azimuth angle Ch approaches the horizontal azimuth angle Mh of the magnet.

[0217] In addition, the [wx,wy,wz] obtained from the gyroscope can be used for complementary filtering with the [gx,gy,gz] obtained from the accelerometer to enhance the dynamic accuracy of the capsule's vertical tilt angle Cv and capsule spin angle Cs, thereby reducing the limitation of the capsule endoscope being relatively stationary.

[0218] Therefore, in Example 3, without the need for a positioning device, the magnet is first controlled to be directly above the capsule endoscope. Then, based on this, the 6DOF complete state parameters [Cx,Cy,Cz,Ch,Cv,Cs] of the capsule endoscope are calculated, which meets the positioning requirements when the equipment conditions are low. This facilitates the subsequent implementation of more accurate scanning control of the capsule endoscope's first-view perspective, optimizes the angle and distance of the capsule endoscope's imaging, and fully utilizes the best performance of the capsule endoscope imaging hardware system.

[0219] Compared with the prior art, this embodiment has the following beneficial effects:

[0220] (1) The control method of the magnetically controlled capsule system can make the direction of movement of the capsule endoscope consistent with the direction on the acquired image without relying on the positioning equipment, relying only on the measurement state data obtained by the capsule endoscope. In other words, the capsule endoscope can be controlled based on the first view of the image of the capsule endoscope, and the movement or posture adjustment of the capsule endoscope can be controlled in a "what you want is what you get" manner. This allows for precise control of the capsule endoscope, reduces the need for physician skills, meets the skill requirements of more physicians, and is conducive to the promotion and application of the magnetically controlled capsule system.

[0221] (2) Based on the first-view control of the capsule endoscope image, the capsule endoscope can acquire images within the required field of view, thereby improving the efficiency of the examination and avoiding the problem of missed detection, thus meeting the needs of physicians.

[0222] (3) Without relying on positioning equipment, the capsule endoscope is positioned by first controlling the magnet to reach directly above the capsule endoscope, thus meeting the requirements for precise control.

[0223] (4) Optimize the angle and distance of capsule endoscopy without relying on positioning equipment, give full play to the best performance of capsule endoscopy imaging hardware system, improve the image quality of digestive tract examination, improve the accuracy of physician's interpretation results, and help improve the treatment level of patients.

[0224] In one embodiment, a control device for a magnetically controlled capsule system is provided, and a schematic diagram of the control device module is shown below. Figure 16 As shown. The control device may include modules, and the specific functions of each module are as follows:

[0225] The capsule state acquisition module is used to continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0226] The pose adjustment module is used to control the movement of the control magnet within the same height and adjust the pose of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0227] The calibration module is used to correct the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope during movement or posture adjustment is consistent with the direction on the image acquired by the capsule endoscope.

[0228] In one embodiment, the control device for a magnetically controlled capsule system, in addition to the modules in the above embodiments, also includes the following modules as shown in the schematic diagram. Figure 17As shown. The positioning device may include the following modules, and the specific functions of each module are as follows:

[0229] The image acquisition module is used to acquire image data captured by the capsule endoscope;

[0230] The field of view adjustment module is used to adjust the posture of the control magnet while keeping the position of the control magnet unchanged, so as to obtain multiple peripheral image data outside the field of view corresponding to the image data;

[0231] The stitching module is used to stitch together the image data and the peripheral image data to obtain extended image data.

[0232] In one embodiment, a positioning device for a magnetically controlled capsule system is provided, and a schematic diagram of the positioning device is shown below. Figure 18 As shown. The positioning device may include the following modules, and the specific functions of each module are as follows:

[0233] The capsule state acquisition module is used to continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0234] The pose adjustment module is used to control the movement of the control magnet within the same height and adjust the pose of the control magnet until the magnetic field state data is maximized and / or the capsule vertical tilt angle of the capsule endoscope is minimized, wherein the capsule vertical tilt angle is calculated based on the acceleration data.

[0235] A magnet state acquisition module is used to acquire magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet attitude data;

[0236] The capsule position calculation module is used to determine the capsule position data of the capsule endoscope based on the current magnet position data;

[0237] The capsule posture calculation module is used to determine the capsule posture data of the capsule endoscope based on the current measurement state data and the magnet posture data.

[0238] It should be noted that for details not disclosed in the control device or positioning device of the present invention embodiments, please refer to the details disclosed in the control method or positioning method of the present invention embodiments.

[0239] The magnetically controlled capsule system 100 in this embodiment is as follows: Figure 19As shown, the system may include a magnetic control system 20 and a capsule endoscope 10. In addition to the aforementioned camera unit 12, permanent magnet unit 15, and inertial measurement unit 11, the capsule endoscope 10 also includes a data processing and transmission unit 13 communicatively connected to the camera unit 12, and a power supply unit 14 supplying power to the aforementioned active components. The data processing and transmission unit 13 transmits information to an external processing module 25 or server. The control magnet 21 drives the capsule endoscope 10 to move. After the capsule endoscope 10 moves to a designated position, the camera unit 12 takes a picture of the digestive tract, which is then transmitted to the outside via the data processing and transmission unit 13, completing the internal imaging.

[0240] The magnetic control system 20 includes a control magnet 21, a motor drive device 22, a signal transmission module 23, a storage module 24, and a processing module 25. The motor drive device 22 drives the control magnet 21 to move. The signal transmission module 23 and the data processing and transmission unit 13 can transmit data wirelessly, such as via Bluetooth, Wi-Fi, or Zigbee. A communication bus 26 is used to establish a connection between the motor drive device 22, the signal transmission module 23, the processing module 25, and the storage module 24. The communication bus 26 may include a path for transmitting information between the motor drive device 22, the signal transmission module 23, the processing module 25, and the storage module 24.

[0241] The magnetically controlled capsule system 100 may also include computing devices such as computers, laptops, handheld computers, and cloud servers, as well as including but not limited to a processing module 25, a storage module 24, and computer programs stored in the storage module 24 and executable on the processing module 25, such as the programs for the control methods or positioning methods described above. When the processing module 25 executes the computer program, it implements the steps in the various control method embodiments described above, as shown in Figure 2. Figure 8 and Figure 15 The steps are shown.

[0242] In addition, the present invention also proposes an electronic device, which includes a storage module 24 and a processing module 25. When the processing module 25 executes the computer program, it can implement the steps in the above-mentioned control method or positioning method, that is, implement the steps in any of the above-mentioned control method or positioning method.

[0243] The electronic device may be part of the magnetically controlled capsule system 100, a local terminal device, or part of a cloud server.

[0244] The processing module 25 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 25 is the control center of the magnetically controlled capsule system 100, connecting all parts of the magnetically controlled capsule system 100 via various interfaces and lines.

[0245] Storage module 24 can be used to store the computer programs and / or modules. Processing module 25 implements various functions of the magnetically controlled capsule system 100 by running or executing the computer programs and / or modules stored in storage module 24 and calling the data stored in storage module 24. Storage module 24 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, storage module 24 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.

[0246] For example, the computer program can be divided into one or more modules / units, which are stored in the storage module 24 and executed by the processing module 25 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 magnetically controlled capsule system 100.

[0247] Furthermore, one embodiment of the present invention provides a readable storage medium storing a computer program, which, when executed by the processing module 25, can implement the steps in the above-described control method or positioning method, that is, implement the steps in any of the above-described control method or positioning method.

[0248] If the control device and / or positioning device integrated module of the magnetically controlled capsule system 100 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 25, it can implement the steps of the various method embodiments described above.

[0249] 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.

[0250] 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.

[0251] 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 control magnet and a capsule endoscope, characterized in that, The control device includes: The capsule state acquisition module is used to perform step S10: continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data; The pose adjustment module is used to perform step S20: control the control magnet to move within the same height and adjust the pose of the control magnet until the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data; Step S20 specifically includes: coordinating the magnetic field state data and the vertical tilt angle of the capsule to control the movement of the control magnet; during the control of the movement of the control magnet, controlling the magnetization direction of the control magnet to be vertical; within a plane perpendicular to the vertical direction, while keeping the magnetization direction unchanged, controlling the control magnet to translate, wherein the translation is along a direction that gradually decreases the vertical tilt angle of the capsule and / or gradually increases the magnetic field state data; if the vertical tilt angle of the capsule remains unchanged, continuously moving the control magnet until the vertical tilt angle of the capsule changes; if the vertical tilt angle of the capsule increases and the magnetic field state data decreases, controlling the control magnet to move in the opposite direction; The calibration module is used to perform step S30: calibrating the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope during movement or posture adjustment is consistent with the direction on the image acquired by the capsule endoscope.

2. The control device for the magnetically controlled capsule system according to claim 1, wherein the control device executes the following control method, characterized in that, Following step S20, the following step is also included: The height of the capsule endoscope is calculated based on the magnetic field state data. Adjust the height of the control magnet so that the height of the capsule endoscope is within the set range.

3. The control device for the magnetically controlled capsule system according to claim 1, wherein the control device executes the following control method, characterized in that, It also includes the following steps: Step S40: Acquire image data captured by the capsule endoscope; Step S50: While keeping the position of the control magnet unchanged, adjust the attitude of the control magnet to obtain multiple peripheral image data outside the field of view corresponding to the image data; Step S60: Combine the image data and the peripheral image data to obtain extended image data.

4. The control device for the magnetically controlled capsule system according to claim 3, wherein the control device executes the following control method, characterized in that, Step S50 includes: While keeping the position of the control magnet unchanged, the attitude of the control magnet is adjusted so that the position of the capsule endoscope remains unchanged, and only the attitude is adjusted; The attitude of the control magnet is adjusted so that the capsule endoscope moves toward a target direction, wherein the target direction is the direction of expansion from the field of view corresponding to the image data to the field of view corresponding to the peripheral image data.

5. The control device for the magnetically controlled capsule system according to claim 4, wherein the control device executes the following control method, characterized in that, Step S50 further includes: The attitude of the control magnet is adjusted so that the newly acquired peripheral image data retains the image within the field of view corresponding to a portion of the image data, while also including the image outside the field of view corresponding to the image data.

6. The control device for the magnetically controlled capsule system according to claim 5, wherein the control device executes the following control method, characterized in that, The step of adjusting the attitude of the control magnet includes: Obtain the expected movement of the field of view of the capsule endoscope; The attitude adjustment amount of the capsule endoscope is calculated based on the expected movement of the field of view; The attitude adjustment amount of the control magnet is calculated based on the attitude adjustment amount of the capsule endoscope; The control magnet is controlled to adjust the corresponding change amount according to the attitude adjustment amount of the control magnet.

7. The control device for the magnetically controlled capsule system according to claim 5, characterized in that, The multiple peripheral image data include peripheral image data at eight positions: above, below, left, right, upper left, upper right, lower left, and lower right.

8. The control device for the magnetically controlled capsule system according to claim 3, wherein the control device executes the following control method, characterized in that, It also includes the following steps: Step S70: Control the movement of the control magnet to move the capsule endoscope to the next control node; Step S80: Based on the continuous execution of step S10, repeat steps S20 to S70 until the inspection is completed.

9. A positioning device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a control magnet and a capsule endoscope, characterized in that, The positioning device includes: The capsule state acquisition module is used to continuously acquire the measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data; The pose adjustment module is used to control the movement of the control magnet within the same height and adjust the pose of the control magnet until the magnetic field state data is maximized and / or the capsule vertical tilt angle of the capsule endoscope is minimized, wherein the capsule vertical tilt angle is calculated based on the acceleration data. A magnet state acquisition module is used to acquire magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet attitude data; The capsule position calculation module is used to determine the capsule position data of the capsule endoscope based on the current magnet position data; The capsule attitude calculation module is used to determine the capsule attitude data of the capsule endoscope based on the current measurement state data and the magnet attitude data. The capsule attitude data includes the capsule horizontal azimuth angle, the capsule vertical tilt angle, and the capsule spin angle. The magnet attitude data includes the magnet horizontal azimuth angle. When the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, the capsule vertical tilt angle is zero. The capsule attitude calculation module is also used to calculate the capsule spin angle based on the acceleration data; after the magnetic field state data is at its maximum and / or the capsule vertical tilt angle of the capsule endoscope is at its minimum, the following steps are performed: adjusting the attitude of the control magnet so that the capsule vertical tilt angle is not zero; the capsule horizontal azimuth angle is equal to the magnet horizontal azimuth angle.

10. The positioning device for the magnetically controlled capsule system according to claim 9, characterized in that, The step of determining the capsule position data of the capsule endoscope based on the current magnet position data includes: The x-axis coordinate of the capsule endoscope is the same as the x-axis coordinate of the control magnet; The y-axis coordinate of the capsule endoscope is the same as the y-axis coordinate of the control magnet; The z-axis coordinate of the capsule endoscope is calculated based on the magnetic field state data.

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