Capsule type endoscope system

Abstract

The invention discloses a capsule type endoscope system, and relates to the technical field of medical instruments. A capsule endoscope is used for collecting image data; the magnetic control equipment controls the capsule endoscope to move; the controller is used for controlling the magnetic control equipment, so that the capsule endoscope moves according to an automatic inspection route; the memory is used for storing the image data and coordinate data on the automatic inspection route, and a corresponding relation is established between the image data and the coordinate data; and the review module is in signal connection with the controller and the memory, and is used for acquiring coordinate data corresponding to the image data when review is needed, controlling the magnetic control equipment through the controller, realizing that the capsule endoscope automatically returns to the initial acquisition position of the image data, and acquiring the image data again for review. According to the capsule type endoscope system, the accurate review function of the capsule endoscope on a specific part in the automatic inspection process is achieved, the problems that in the prior art, the review efficiency is low, and the precision is limited are effectively solved, and the diagnosis accuracy and the operation convenience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a capsule endoscope system. Background Art

[0002] The capsule endoscopy system is a revolutionary medical device that allows images of the patient's digestive tract to be captured by swallowing a capsule with a built-in camera.

[0003] Although existing capsule endoscopy systems provide important assistance in the diagnosis of gastrointestinal diseases, their main limitation is the lack of an effective review function. Specifically, when a doctor finds a specific part or lesion that needs further observation during an automatic examination, the existing technology does not support easy return to that location for review. The doctor must rely on his or her memory and manual operation skills to manually guide the capsule back to that specific location, which is not only inefficient but also has limited accuracy and may lead to the omission or misdiagnosis of important lesions. In addition, manual operation requires doctors to undergo a lot of training and practice to master it, which is an additional burden for doctors. Therefore, the existing technology has obvious deficiencies in achieving accurate and efficient review. Summary of the invention

[0004] The purpose of this application is to provide a capsule endoscope system, which realizes the precise review function of specific parts during the automatic inspection process of the capsule endoscope, effectively solves the problems of low review efficiency and limited accuracy in the prior art, and improves the accuracy of diagnosis and the convenience of operation.

[0005] To achieve the above objectives, the present application provides a capsule endoscope system, comprising:

[0006] A capsule endoscope, provided with a controlled magnet, the capsule endoscope being used to collect image data;

[0007] A magnetic control device, comprising a mechanical arm and a main control magnet, wherein the mechanical arm is used to control the movement of the main control magnet, and the capsule endoscope is driven to move through the magnetic action between the main control magnet and the controlled magnet;

[0008] Control device, including:

[0009] A controller connected to the magnetic control device by signal, the controller is used to control the magnetic control device to realize the movement of the capsule endoscope according to the automatic inspection route;

[0010] A memory, connected to the controller signal, for storing the image data and the coordinate data on the automatic inspection route, wherein the image data and the coordinate data establish a corresponding relationship;

[0011] The review module is connected to the controller and the memory signal, and is used to obtain the coordinate data corresponding to the image data when review is needed, control the magnetic control device through the controller, and realize that the capsule endoscope automatically returns to the initial collection position of the image data, and collects the image data again for review.

[0012] In some embodiments, the controller is further used to obtain motion data through kinematic inverse operation based on the coordinate data acquired by the review module, control the magnetic control device to move according to the motion data, and realize the review movement of the capsule endoscope.

[0013] In some embodiments, there are multiple coordinate data on the automatic inspection route, the magnetic control device is also used to detect the actual position of the capsule endoscope, and the review module is also used to establish a sequential review order based on the distance relationship between the actual position and the multiple coordinate data on the automatic inspection route.

[0014] In some embodiments, the control device further comprises:

[0015] A display module is used to display the image data and the automatic inspection route.

[0016] In some embodiments, the display module is connected to the memory and the review module signals, and the image data to be reviewed is selected through the display module. After the review is implemented, the image data for comparison between the initial acquisition and the review is displayed through the display module.

[0017] In some embodiments, the control device further comprises:

[0018] An image acquisition module is connected to the memory and the display module by signal, the image acquisition module is used to acquire the image data displayed by the display module when triggered, and the memory stores the image data acquired by the image acquisition module;

[0019] When the image acquisition module is triggered, the memory stores the coordinate data of the capsule endoscope detected by the magnetic control device, and a corresponding relationship is established between the coordinate data and the image data.

[0020] In some embodiments, the mechanical arm includes a base, a first arm body and a second arm body, the first arm body is provided with a first rotation joint at one end facing the base, the first arm body is provided with a second rotation joint at one end facing the second arm body, and the mechanical arm is provided with a first motor for driving the first arm body to rotate relative to the base and a second motor for driving the second arm body to rotate relative to the first arm body;

[0021] The controlled magnet is arranged on the second arm body.

[0022] In some embodiments, the coordinate data includes the coordinates (x, y) of the controlled magnet, the length of the first arm is L1, and the length of the second arm is L2;

[0023] The angle θ1 between the first arm and the x-axis is calculated as follows:

[0024] ;

[0025] The angle θ2 between the second arm and the extension line of the first arm is calculated as follows:

[0026] .

[0027] In some embodiments, the control device further comprises:

[0028] The path optimization module is used to calculate the optimal path of the capsule endoscope from the current position to the target review position, and to guide the magnetic control device to move the capsule endoscope along the path.

[0029] In some embodiments, the control device further comprises:

[0030] The obstacle detection and avoidance module is used to analyze the surrounding environment of the capsule endoscope in real time, identify and avoid obstacles, and ensure the smooth movement of the capsule endoscope.

[0031] Compared with the above-mentioned background technology, the capsule endoscope system provided by the present application mainly includes a capsule endoscope, a magnetic control device and a control device. The capsule endoscope is provided with a controlled magnet, and the capsule endoscope is used to collect image data; the magnetic control device includes a mechanical arm and a main control magnet, and the mechanical arm is used to control the movement of the main control magnet, and the capsule endoscope is driven to move through the magnetic action between the main control magnet and the controlled magnet; the control device includes a controller, a memory and a review module, and the controller is connected to the magnetic control device by signal, and the controller is used to control the magnetic control device to realize the movement of the capsule endoscope along the automatic inspection route; the memory is connected to the controller by signal, and is used to store image data and coordinate data on the automatic inspection route, and a corresponding relationship is established between the image data and the coordinate data; the review module is connected to the controller and the memory by signal, and is used to obtain coordinate data corresponding to the image data when review is needed, and control the magnetic control device through the controller to realize that the capsule endoscope automatically returns to the initial collection position of the image data, and collects the image data again for review.

[0032] This technical solution aims to solve the problem of capsule endoscope system lacking accurate review function in the automatic inspection process, and proposes a system integrating magnetic control equipment and intelligent control device. The system realizes automatic review of specific parts by accurately controlling the movement of capsule endoscope, which significantly improves the efficiency and accuracy of review.

[0033] The core of the system is the magnetic control device and control device. The magnetic control device includes a robotic arm and a master magnet, which can accurately control the controlled magnet in the capsule endoscope. Through the movement of the robotic arm, the magnetic interaction between the master magnet and the controlled magnet drives the capsule endoscope to move precisely in the digestive tract, which enables doctors to guide the capsule endoscope to a specific examination site as needed.

[0034] For the control device, the controller is responsible for directing the magnetic control device to ensure that the capsule endoscope moves according to the preset automatic inspection route. At the same time, the memory will record the image data and the corresponding coordinate data to establish the corresponding relationship between the image and the coordinates. This correspondence is the key to achieving accurate review, which allows the system to quickly locate specific image data and find the corresponding coordinate position.

[0035] The review module works when needed. It obtains coordinate data corresponding to specific image data through the controller, and then controls the magnetic control device to automatically return the capsule endoscope to the initial sampling position of the image data. This function effectively solves the problem of doctors relying on memory and manual operation to locate specific parts in the existing technology, reduces the errors caused by manual operation, and improves the accuracy and reliability of review.

[0036] Combined with the above structure and process description, it can be seen that the capsule endoscope system has at least the following beneficial effects: the capsule endoscope system realizes the precise review function of specific parts during the automatic inspection process of the capsule endoscope, effectively solves the problems of low review efficiency and limited accuracy in the prior art, and improves the accuracy of diagnosis and the convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0038] FIG1 is a schematic diagram of a capsule endoscope system provided in an embodiment of the present application;

[0039] FIG2 is a schematic diagram of a control device provided in an embodiment of the present application;

[0040] FIG3 is a schematic diagram of a mechanical arm and a main control magnet provided in an embodiment of the present application;

[0041] FIG. 4 is a calculation diagram of the capsule endoscope system provided in an embodiment of the present application.

[0042] in:

[0043] Capsule endoscope system 100,

[0044] Capsule endoscope 01, magnetic control equipment 1,

[0045] The robot arm 11 , the main control magnet 12 , the control device 13 , the controller 131 , the memory 132 , the review module 133 , the display module 134 , the image acquisition module 135 , the path optimization module 136 , and the obstacle detection and avoidance module 137 . DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0048] Please refer to Figures 1 to 3, wherein Figure 1 is a schematic diagram of a capsule endoscope system provided in an embodiment of the present application, Figure 2 is a schematic diagram of a control device provided in an embodiment of the present application, and Figure 3 is a schematic diagram of a robotic arm and a main control magnet provided in an embodiment of the present application.

[0049] In a first specific implementation, the capsule endoscope system 100 provided in the implementation scheme of the present application mainly includes a capsule endoscope 01 , a magnetic control device 1 and a control device 13 .

[0050] The capsule endoscope 01 is provided with a controlled magnet. The capsule endoscope 01 may also be provided with a camera and a control circuit board. The control circuit board has a signal transceiver module. The capsule endoscope 01 is used to collect image data and output the image data through signals.

[0051] The magnetic control device 1 includes a mechanical arm 11 and a main control magnet 12. The mechanical arm 11 is used to control the movement of the main control magnet 12. Through the magnetic action between the main control magnet 12 and the controlled magnet, the capsule endoscope 01 is driven to move. For the magnetic control scheme of the main control magnet 12 and the controlled magnet, reference can be made to the prior art and will not be repeated here.

[0052] The control device 13 includes a controller 131 , a memory 132 and a review module 133 .

[0053] The controller 131 is connected to the magnetic control device 1 by signals, and the controller 131 is used to control the magnetic control device 1 to enable the capsule endoscope 01 to move along an automatic inspection route.

[0054] The memory 132 is connected to the controller 131 by signals, and is used to store image data and coordinate data on the automatic inspection route, and a corresponding relationship is established between the image data and the coordinate data.

[0055] The review module 133 is connected to the controller 131 and the memory 132 by signal, and is used to obtain coordinate data corresponding to the image data when review is needed, and control the magnetic control device 1 through the controller 131 to realize that the capsule endoscope 01 automatically returns to the initial collection position of the image data and collects the image data again for review.

[0056] This technical solution aims at the defect that the capsule endoscope system 100 lacks the accurate review function during the automatic inspection process, and proposes a system integrating the magnetic control device 1 and the intelligent control device. The system realizes the automatic review of specific parts by accurately controlling the movement of the capsule endoscope 01, which significantly improves the efficiency and accuracy of the review.

[0057] The core of the system is the magnetic control device 1 and the control device 13. The magnetic control device 1 includes a mechanical arm 11 and a main control magnet 12, which can accurately control the controlled magnet in the capsule endoscope 01. Through the movement of the mechanical arm 11, the magnetic interaction between the main control magnet 12 and the controlled magnet drives the capsule endoscope 01 to move accurately in the digestive tract, which enables the doctor to guide the capsule endoscope 01 to a specific inspection site as needed.

[0058] For the control device 13, the controller 131 is responsible for commanding the magnetic control device 1 to ensure that the capsule endoscope 01 moves according to the preset automatic inspection route. At the same time, the memory 132 will record the image data and the corresponding coordinate data to establish the corresponding relationship between the image and the coordinates. This corresponding relationship is the key to achieving accurate review, which allows the system to quickly locate specific image data and find the corresponding coordinate position.

[0059] The review module 133 functions when needed. It obtains coordinate data corresponding to specific image data through the controller 131, and then controls the magnetic control device 1 to automatically return the capsule endoscope 01 to the initial acquisition position of the image data. This function effectively solves the problem in the prior art that doctors rely on memory and manual operation to locate specific parts, reduces errors caused by manual operation, and improves the accuracy and reliability of review.

[0060] Combined with the above structure and process description, it can be seen that the capsule endoscope system 100 has at least the following beneficial effects: the capsule endoscope system 100 realizes the precise review function of the capsule endoscope 01 on specific parts during the automatic inspection process, effectively solving the problems of low review efficiency and limited accuracy in the prior art, and improving the accuracy of diagnosis and the convenience of operation.

[0061] In some embodiments, the controller 131 is further used to obtain motion data through inverse kinematic operations based on the coordinate data acquired by the review module 133 , and control the magnetic control device 1 to move according to the motion data to achieve the review movement of the capsule endoscope 01 .

[0062] In this embodiment, the controller 131 of the capsule endoscope system 100 is not only responsible for controlling the basic operation of the magnetic control device 1, but also extends its functions to support the advanced operation of the review module 133. When the review module 133 determines that a specific part needs to be reviewed, it will obtain the coordinate data corresponding to the part from the memory 132. These coordinate data represent the position of the specific image recorded by the capsule endoscope 01 during the automatic inspection process.

[0063] The controller 131 uses these coordinate data to calculate the specific motion path that the magnetic control device 1 needs to execute through inverse kinematics calculation. Inverse kinematics calculation is a calculation process that can determine the joint angle or other motion parameters required by the robot arm 11 based on the desired position and posture of the end effector, i.e., the main control magnet 12.

[0064] After obtaining these motion parameters, the controller 131 will send corresponding control signals to the magnetic control device 1 to guide the mechanical arm 11 and the main control magnet 12 to perform precise movements. In this way, the capsule endoscope 01 can be automatically guided back to the precise position where the image was previously recorded for review. This process reduces the need for doctors to manually operate the capsule endoscope 01, improves the efficiency and accuracy of the review, and also reduces the workload of doctors.

[0065] In this way, the system 100 can ensure that the capsule endoscope 01 can accurately reach the target position during the review, thereby improving the quality and efficiency of the inspection, which is essential for the early detection and diagnosis of digestive tract diseases. This automated review function is a key innovation of the present technical solution, which significantly improves the operational convenience and clinical application value of the capsule endoscope system.

[0066] In some embodiments, there are multiple coordinate data on the automatic inspection route, the magnetic control device 1 is also used to detect the actual position of the capsule endoscope 01, and the review module 133 is also used to establish a sequential review order based on the distance relationship between the actual position and the multiple coordinate data on the automatic inspection route.

[0067] In this embodiment, the magnetic control device 1 of the capsule endoscope system 100 is not only responsible for controlling the movement of the capsule endoscope 01, but also has the function of detecting the actual position of the capsule endoscope 01. This means that during the automatic inspection process, the magnetic control device 1 can track and record the specific coordinates of the capsule endoscope 01 in the digestive tract in real time.

[0068] The system stores a plurality of coordinate data representing key positions on the automatic inspection route. The review module 133 uses these coordinate data and the actual position information of the capsule endoscope 01 to calculate the distance relationship with each coordinate data. Based on these distance information, the review module 133 can intelligently determine the priority and order of the review, thereby establishing an efficient review plan.

[0069] This distance-based review sequence arrangement enables the capsule endoscope 01 to revisit each key location in the optimal path, reducing unnecessary movement and improving the efficiency of the review process. In this way, doctors can review key areas more quickly while ensuring that no important areas are missed.

[0070] In addition, this intelligent review sequence arrangement also helps to reduce patient discomfort because the movement of the capsule endoscope 01 is more efficient and orderly. Therefore, this embodiment improves the review capability and clinical application practicability of the capsule endoscope system 100 through intelligent path planning and review sequence arrangement.

[0071] In some embodiments, the control device 13 further includes:

[0072] The display module 134 is used to display the image data and the automatic inspection route.

[0073] In this embodiment, the control device 13 further includes a display module 134, which is used to intuitively display the image data captured by the capsule endoscope 01 and the route recorded during the automatic inspection process to the operator. The display module 134 can be a screen integrated in the control device 13, or an external monitor wirelessly connected to the control device 13.

[0074] Through the display module 134, the doctor can observe in real time the movement of the capsule endoscope 01 in the digestive tract and the images it captures. This includes not only the current real-time images, but also the image data captured and stored previously. The display module 134 enables the doctor to clearly understand the position of the capsule endoscope 01 and its progress on the automatic inspection route.

[0075] In addition, the display module 134 can also display an automatic inspection route, which is the predetermined inspection path of the capsule endoscope 01 in the digestive tract. This path can be based on a pre-set program or dynamically adjusted according to the patient's specific anatomical structure. In this way, the doctor can ensure that the capsule endoscope 01 covers all key areas and can quickly locate specific inspection points when needed.

[0076] The introduction of the display module 134 improves the intuitiveness and interactivity of the operation, allowing doctors to more effectively monitor and control the inspection process of the capsule endoscope 01. This real-time visual feedback helps to improve the accuracy and efficiency of the inspection.

[0077] In some embodiments, the display module 134 is connected to the memory 132 and the review module 133 by signals, and the image data to be reviewed is selected through the display module 134. After the review is implemented, the display module 134 displays the image data for comparison between the initial acquisition and the review.

[0078] In this embodiment, the display module 134 is not only used to display image data and automatic inspection routes, but also realizes signal connection with the memory 132 and the review module 133, thereby expanding its functions. This connection allows the doctor to directly interact with the system through the display module 134 and select specific image data that needs to be reviewed in detail.

[0079] When the doctor selects the image data to be reviewed on the display module 134, the review module 133 starts the review process according to the corresponding coordinate data stored in the memory 132. The review module 133 uses these coordinate data to guide the magnetic control device 1 through the controller 131 to accurately navigate the capsule endoscope 01 back to the position where the image was initially collected.

[0080] After the review is implemented, the display module 134 will display a comparison view of the initial image and the review image. This intuitive comparison can help doctors quickly evaluate changes in the examination site, whether it is to observe the dynamic changes of the lesion or to confirm the effect of treatment. By viewing two sets of images side by side on the same interface, doctors can make more accurate diagnostic decisions, improving the efficiency and accuracy of the review process.

[0081] This enhanced function of the display module 134 makes the entire review process more user-friendly and reduces the need for doctors to switch between different devices or interfaces. This integrated solution not only improves the user experience, but also enhances the practicality and effectiveness of the capsule endoscope system 100 in clinical applications.

[0082] In some embodiments, the control device 13 further includes:

[0083] The image acquisition module 135 is connected to the memory 132 and the display module 134 by signals. The image acquisition module 135 is used to acquire image data displayed by the display module 134 when triggered, and the memory 132 stores the image data acquired by the image acquisition module 135;

[0084] When the image acquisition module 135 is triggered, the memory 132 stores the coordinate data of the capsule endoscope 01 detected by the magnetic control device 1 , and a corresponding relationship is established between the coordinate data and the image data.

[0085] In this embodiment, the control device 13 further integrates an image acquisition module 135, which realizes signal connection with the memory 132 and the display module 134. The main function of the image acquisition module 135 is to acquire the image data displayed on the display module 134 in real time when the system is triggered, and save it to the memory 132.

[0086] During this process, whenever the image acquisition module 135 is triggered, it not only acquires the currently displayed image data, but also simultaneously acquires the real-time coordinate data of the capsule endoscope 01 from the magnetic control device 1. These coordinate data are then also recorded by the memory 132 and associated with the acquired image data, ensuring that each image data point has corresponding position information.

[0087] In this way, the system can establish an accurate spatial coordinate reference for each acquired image, which is crucial for subsequent image analysis and review. The correspondence between coordinate data and image data enables doctors to know exactly where each image was taken in the digestive tract, allowing for quick positioning during review.

[0088] This integrated image acquisition and coordinate recording mechanism improves the operational efficiency of the capsule endoscopy system 100 and enhances its accuracy during the diagnostic process. It reduces the need to manually record coordinates while ensuring data consistency and reliability, providing physicians with a powerful tool for more efficient diagnosis and treatment decision making.

[0089] In some embodiments, the robot arm 11 includes a base, a first arm body and a second arm body, the first arm body is provided with a first rotation joint at one end facing the base, the first arm body is provided with a second rotation joint at one end facing the second arm body, and the robot arm 11 is provided with a first motor for driving the first arm body to rotate relative to the base and a second motor for driving the second arm body to rotate relative to the first arm body;

[0090] The controlled magnet is arranged on the second arm body.

[0091] In this embodiment, the design of the mechanical arm 11 is more specific, and it is composed of a base, a first arm body and a second arm body, forming a mechanical structure with multiple degrees of freedom. Such a design enables the mechanical arm 11 to perform more complex movements to accurately control the position and posture of the main control magnet 12.

[0092] Specifically, the first arm is equipped with a first rotary joint at one end facing the base, which allows the first arm to rotate relative to the base. This rotary motion is driven by a first motor, which is responsible for providing power so that the first arm can rotate around the base, thereby changing the position of the main control magnet 12.

[0093] The first arm body is provided with a second rotating joint at one end facing the second arm body, and this joint enables the second arm body to rotate relative to the first arm body. The second motor is responsible for driving this rotating joint, which provides the necessary power to enable the second arm body to rotate around the first arm body, and further finely adjust the posture of the main control magnet 12.

[0094] The controlled magnet is arranged at the end of the second arm, and such a layout enables the entire mechanical arm 11 to accurately position the controlled magnet at a specific position in space through the combined movement of the two rotating joints. This precise positioning capability is crucial for controlling the movement of the capsule endoscope 01, because it allows the magnetic control device 1 to accurately guide the movement of the capsule endoscope 01 in the digestive tract by changing the distance and angle between the main control magnet 12 and the controlled magnet.

[0095] Please refer to FIG. 4 , which is a calculation diagram of the capsule endoscope system provided in an embodiment of the present application.

[0096] For example, the terminal coordinates (coordinate data) corresponding to a certain picture (image data) are (x, y, z). For simplicity, the model can be simplified to an XY plane problem, as shown in Figure 4.

[0097] In some embodiments, the coordinate data includes coordinates (x, y) of the controlled magnet, corresponding to point P in the figure, the length of the first arm is L1, and the length of the second arm is L2.

[0098] Now the end needs to run to point P to perform inverse kinematics. To simplify the calculation, assume that the current robot arm coincides with the x-axis. The problem is to solve the values ​​of θ1 and θ2 given the robot arm lengths L1 and L2 and the end coordinates (x, y).

[0099] From the Pythagorean theorem (1);

[0100] Depend on get (2);

[0101] From the cosine theorem we get (3);

[0102] Combining equations (1), (2), and (3) we can obtain:

[0103] ;

[0104] Similarly, we can obtain .

[0105] Finally, the calculation result of the angle θ1 between the first arm and the x-axis is as follows:

[0106] ;

[0107] The calculation result of the angle θ2 between the second arm and the extension line of the first arm is as follows:

[0108] .

[0109] Therefore, as long as the rotation angle of the first arm and the second arm is determined, the motor can be controlled to rotate the corresponding angle to run to the desired point P.

[0110] In some embodiments, the control device 13 further includes:

[0111] The path optimization module 136 is used to calculate the optimal path of the capsule endoscope 01 from the current position to the target review position, and to instruct the magnetic control device 1 to move the capsule endoscope 01 along the path.

[0112] In this embodiment, the control device 13 further integrates a path optimization module 136, the function of which is to calculate the optimal path for the capsule endoscope 01 to reach the target review position from its current position. The path optimization module 136 uses advanced algorithms, such as the shortest path algorithm or the AI ​​algorithm, to determine a most efficient route that takes into account multiple factors, including distance, time, and possible obstacles.

[0113] When the doctor specifies one or more review target positions through the review module 133, the path optimization module 136 starts working immediately. It analyzes all possible paths between the current position of the capsule endoscope 01 and the target position and calculates the optimal path. This calculation process takes into account the anatomical structure of the digestive tract and the motion characteristics of the capsule endoscope 01, ensuring that the selected path is not only the shortest, but also the safest and most effective.

[0114] After determining the optimal path, the path optimization module 136 will instruct the magnetic control device 1 to move the capsule endoscope 01 along this path. This means that the mechanical arm 11 and the main control magnet 12 of the magnetic control device 1 will accurately adjust their positions and postures according to the instructions of the path optimization module 136 to ensure that the capsule endoscope 01 can move along the predetermined optimal path.

[0115] In this way, the path optimization module 136 significantly improves the efficiency and accuracy of the capsule endoscope 01 review process. It reduces unnecessary movement and time waste, ensuring the smoothness and efficiency of the review process. In addition, this also reduces the operating burden of doctors, allowing them to focus more on diagnosis and treatment decisions rather than navigation and control details. This intelligent path planning is one of the key factors in improving the overall performance of the capsule endoscope system.

[0116] In some embodiments, the control device 13 further includes:

[0117] The obstacle detection and avoidance module 137 is used to analyze the surrounding environment of the capsule endoscope 01 in real time, identify and avoid obstacles, and ensure the smooth movement of the capsule endoscope 01.

[0118] In this embodiment, the control device 13 adds an obstacle detection and avoidance module 137, the purpose of which is to improve the safety and reliability of the capsule endoscope 01 during the inspection process. The obstacle detection and avoidance module 137 can monitor the environment around the capsule endoscope 01 in real time and identify obstacles that may block its path by analyzing data collected from the sensor system of the capsule endoscope 01.

[0119] This module uses various sensor data, such as visual sensors, tactile sensors or distance sensors, to sense objects in front of the capsule endoscope 01. Once an obstacle is detected, the obstacle detection and avoidance module 137 will be immediately activated to analyze the location, size and shape of the obstacle and evaluate its potential impact on the movement of the capsule endoscope 01.

[0120] Based on these analyses, the obstacle detection and avoidance module 137 will calculate a new path to avoid the identified obstacles while ensuring that the capsule endoscope 01 continues to move along the predetermined inspection route. This new path will be sent to the controller 131 in real time, and the controller 131 will then adjust the movement of the magnetic control device 1 to guide the capsule endoscope 01 to move along a safe new path.

[0121] By integrating the obstacle detection and avoidance module 137, the capsule endoscope system 100 can respond to the complex environment in the digestive tract more intelligently, reducing the interruption or delay of the inspection caused by obstacles. This not only improves the fluency of the inspection process, but also ensures the safety of the capsule endoscope 01 when moving in the digestive tract, reducing the risk of discomfort or injury to the patient.

[0122] In a specific embodiment, the use process of the capsule endoscope system is described as follows.

[0123] The capsule endoscope system 100 of the present application has automatic inspection and manual inspection functions. In the automatic inspection mode, the controller 131 guides the capsule endoscope 01 to automatically traverse the stomach area along the preset inspection route, and captures image data in real time and transmits it to the display module 134 for display. In the manual inspection mode, the operator directly controls the magnetic control device 1 through the operating handle to move the capsule endoscope 01 to the designated inspection area.

[0124] During the automatic inspection process, when the operator observes the lesion point that needs to be reviewed through the display module 134, the operator can trigger the image acquisition module 135 by pressing a preset shortcut key (such as the space bar). At this time, the system will automatically save the current image data and mark it as FigureN, and record the spatial coordinates {x, y, z} of the magnet at the end of the capsule endoscope 01 to the matrix CordN={x, y, z} in the memory 132.

[0125] After completing the automatic inspection or in other cases where a review is required, the operator can select the previously saved Figure N image through the display module 134. By double-clicking the image or selecting a review through the right-click menu, the controller 131 will perform an inverse kinematic operation based on the stored coordinate data CordN, calculate the necessary motion path, and command the magnetic control device 1 to automatically guide the capsule endoscope 01 back to the initial sampling position of Figure N. The operator can then observe this part in more detail or manually review it.

[0126] Through this mechanism, after the operator collects the image data of interest in real time, the system will synchronously record and store the corresponding coordinate information. These image data and their corresponding coordinate data are stored at the bottom of the interface, which is convenient for the operator to access at any time. The operator can click the image with the mouse and use the menu command to make the magnetic control device 1 drive the capsule endoscope 01 to move to the coordinate position of any previously recorded image. This function realizes the ability to quickly return to a specific image coordinate from any position, greatly simplifying the process of the operator's review of the patient.

[0127] It should be noted that many of the components mentioned in this application are universal standard parts or components known to those skilled in the art, and their structures and principles can be learned by those skilled in the art through technical manuals or through conventional experimental methods.

[0128] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0129] The capsule endoscope system provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A capsule endoscope system, characterized in that: include: A capsule endoscope, provided with a controlled magnet, the capsule endoscope being used to collect image data; A magnetic control device, comprising a mechanical arm and a main control magnet, wherein the mechanical arm is used to control the movement of the main control magnet, and the capsule endoscope is driven to move through the magnetic action between the main control magnet and the controlled magnet; Control device, including: A controller connected to the magnetic control device by signal, the controller is used to control the magnetic control device to realize the movement of the capsule endoscope according to the automatic inspection route; A memory, connected to the controller signal, for storing the image data and the coordinate data on the automatic inspection route, wherein the image data and the coordinate data establish a corresponding relationship; The review module is connected to the controller and the memory signal, and is used to obtain the coordinate data corresponding to the image data when review is needed, control the magnetic control device through the controller, and realize that the capsule endoscope automatically returns to the initial collection position of the image data, and collects the image data again for review.

2. The capsule endoscope system according to claim 1, characterized in that: The controller is also used to obtain motion data through kinematic inverse operation based on the coordinate data acquired by the review module, control the magnetic control device to move according to the motion data, and realize the review movement of the capsule endoscope.

3. The capsule endoscope system according to claim 1, characterized in that: There are multiple coordinate data on the automatic inspection route, the magnetic control device is also used to detect the actual position of the capsule endoscope, and the review module is also used to establish a sequential review order based on the distance relationship between the actual position and the multiple coordinate data on the automatic inspection route.

4. The capsule endoscope system according to claim 1, characterized in that: The control device also includes: A display module is used to display the image data and the automatic inspection route.

5. The capsule endoscope system according to claim 4, characterized in that: The display module is connected to the memory and the review module by signals. The image data to be reviewed is selected through the display module. After the review is implemented, the image data for comparison between the initial acquisition and the review is displayed through the display module.

6. The capsule endoscope system according to claim 4, characterized in that: The control device also includes: An image acquisition module is connected to the memory and the display module by signal, the image acquisition module is used to acquire the image data displayed by the display module when triggered, and the memory stores the image data acquired by the image acquisition module; When the image acquisition module is triggered, the memory stores the coordinate data of the capsule endoscope detected by the magnetic control device, and a corresponding relationship is established between the coordinate data and the image data.

7. The capsule endoscope system according to claim 1, characterized in that: The mechanical arm comprises a base, a first arm body and a second arm body, wherein the first arm body is provided with a first rotating joint at one end facing the base, and the first arm body is provided with a second rotating joint at one end facing the second arm body, and the mechanical arm is provided with a first motor for driving the first arm body to rotate relative to the base and a second motor for driving the second arm body to rotate relative to the first arm body; The controlled magnet is arranged on the second arm body.

8. The capsule endoscope system according to claim 7, characterized in that: The coordinate data includes the coordinates (x, y) of the controlled magnet, the length of the first arm is L1, and the length of the second arm is L2; The angle θ1 between the first arm and the x-axis is calculated as follows: ； The angle θ2 between the second arm and the extension line of the first arm is calculated as follows: 。 9. The capsule endoscope system according to claim 1, characterized in that: The control device also includes: The path optimization module is used to calculate the optimal path of the capsule endoscope from the current position to the target review position, and to guide the magnetic control device to move the capsule endoscope along the path.

10. The capsule endoscope system according to claim 1, characterized in that: The control device also includes: The obstacle detection and avoidance module is used to analyze the surrounding environment of the capsule endoscope in real time, identify and avoid obstacles, and ensure the smooth movement of the capsule endoscope.

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