Magnetic control capsule body guiding mechanical arm system and device and operation method

Abstract

The invention discloses a magnetic control capsule body guiding mechanical arm system and device and an operation method. The mechanical arm system comprises a mechanical arm operation module, a capsule body module, an image transmission module, a sliding rail operation module and an operation end. The capsule body module is controlled by the mechanical arm operation module to collect images, and the images are transmitted to the operation end through the image transmission module; the mechanical arm device comprises a double-sliding-rail base and an arc-shaped structure. The arc-shaped structure is provided with a multi-joint mechanical arm, a permanent magnet is installed at the lower end of the tail-end mechanical arm, the position and posture of a capsule body in a patient body are controlled through the permanent magnet, and the mechanical arm is used for controlling the position and posture of the capsule body in the patient body through cooperative work of a sliding rail servo motor, a mechanical arm servo motor, an encoder and a sensor in combination with real-time image transmission and an advanced PID closed-loop control strategy. Accurate monitoring and adjustment of the movement of the capsule body are achieved. The controllability and accuracy of the capsule body are improved, and a more efficient solution is provided for disease diagnosis by adopting the miniature radiator and the prediction model.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a magnetically controlled capsule body guiding mechanical arm system, device and operating method. Background Art

[0002] With the continuous advancement of medical technology, capsules have become a non-invasive and convenient means of digestive tract examination. However, the movement of traditional capsules in the human body is completely dependent on natural peristalsis and gravity, which makes it impossible for doctors to actively control the position and posture of the capsule, limiting the accuracy and flexibility of diagnosis. In order to solve this problem, the present invention proposes a magnetically controlled capsule guiding robot arm device.

[0003] Traditionally, capsule technology allows patients to swallow a small capsule with a built-in micro-camera that can take pictures of the inside of the digestive tract and transmit them wirelessly to an external receiver. The advantages of this solution are that it is non-invasive and has little impact on patient comfort. However, due to the lack of external control, the capsule may miss some important observation areas or stagnate in some narrow or curved parts, resulting in incomplete examination results.

[0004] Existing technologies attempt to remotely control capsules by using external magnetic fields, but these methods often suffer from insufficient precision, complex operation, or require large equipment. For example, although some systems can achieve a certain degree of capsule navigation, they still have difficulty achieving ideal positioning effects due to uneven magnetic field distribution or inaccurate control algorithms. In addition, they may not have a real-time feedback mechanism and therefore cannot adapt well to the dynamic changes of the capsule in the body.

[0005] In contrast, the present invention provides a capsule body module that integrates a high-resolution camera and a permanent magnet, and combines a precision robotic arm servo motor and encoder system. It calculates the optimal joint angle sequence through a particle swarm optimization algorithm, and adjusts the robotic arm movement in conjunction with a PID controller, thereby achieving precise control of the movement inside the capsule. Summary of the invention

[0006] The present invention discloses a magnetically controlled capsule-guided mechanical arm system, comprising a mechanical arm operation module, a capsule module, an image transmission module, a slide rail operation module and an operation terminal;

[0007] The robot arm operation module comprises a robot arm servo motor (14), a first robot arm (16), a second robot arm (17), a third robot arm (18) and a permanent magnet (19); the robot arm servo motor (14) controls the first robot arm (16) through a built-in first encoder, controls the second robot arm (17) through a second encoder, and controls the third robot arm (18) through a third encoder, so as to achieve precise omnidirectional movement; the robot arm operation module controls the posture and trajectory of the capsule in the patient's body by changing the position and direction of the permanent magnet (19);

[0008] The capsule module comprises a built-in camera and a built-in permanent magnet. The built-in camera captures a real-time image of the current position of the capsule and transmits the image data to the operating end through wireless transmission. The built-in permanent magnet interacts with a permanent magnet (19) at the end of the third mechanical arm (18), and the movement of the built-in capsule in the body is controlled by the permanent magnet (19).

[0009] The image transmission module is installed on the capsule module to capture in-vivo images, transmit the images to the operating end through wireless communication, and control the movement of the capsule through the image manipulation robot; the image transmission module also has image processing capabilities to optimize the image quality of the received images;

[0010] The slide rail operation module comprises slide rails (3) on both sides and an arc structure (20); the slide rails (3) provide a stable support base to ensure that the robot arm moves smoothly during the entire inspection process, and the arc structure (20) is fixed to the top of the slide rail to provide a wide range of movement for the robot arm;

[0011] The operating end controls the robot arm operating module by receiving images to achieve precise guidance.

[0012] Preferably, the robotic arm operation module includes a position sensor and an angle sensor; the position sensor and the angle sensor are both installed at the joints of the first robotic arm (16), the second robotic arm (17), and the third robotic arm (18); the action position of the robotic arm operation module is fed back through the position sensor, and the action position is transmitted to the operation end for control; the angle sensor feeds back the angle sizes of the first robotic arm (16), the second robotic arm (17), and the third robotic arm (18) through angle measurement, and at the same time feeds back the angle size of the permanent magnet (19) of the third robotic arm (18) through the angle sensor, and transmits the angle size to the operation end to achieve precise control.

[0013] Preferably, the data collected by the position sensor and the angle sensor are obtained by the robot operation module and processed by a PID controller. After receiving the instruction, the PID controller obtains the actual position and posture information of the capsule body through the image captured by the camera of the capsule body and the data of the position sensor and the angle sensor, compares the actual position with the target position, calculates the current position error, calculates the control amount through the error, and outputs a control signal through the control amount to the robot arm servo motor (14) for adjustment, thereby changing the posture and position of the capsule body.

[0014] A magnetically controlled capsule guiding mechanical arm device comprises a frame (1) and an arc-shaped structure (21); slide rails (3) are arranged on both sides of the top of the frame (1), and the slide rails (3) slide left and right through slide rail buckles (25); the base connecting member (4) is connected to an elevator (26), and the arc-shaped structure (21) is controlled to move up and down through the elevator (26); a threaded hole is provided in the middle of the base connecting member (4), and a slide rail screw rod (2) is arranged in the threaded hole; the end of the slide rail screw rod (2) is connected to a base servo motor (9) to realize the left and right sliding of the arc-shaped structure (21);

[0015] A gear ring (10) is arranged on the upper side of the arc structure (21), and the sliding device (11) moves up and down through the gear ring (10). A pinion (13) is arranged on the inner side of the sliding device (11), and the pinion (13) is connected to a slide rail servo motor (14). The slide rail servo motor (14) drives the internal gear of the sliding device (11) to rotate so as to continuously mesh with the gear ring (10) of the arc structure (21) for movement. A concave pulley (12) is arranged inside the sliding device (11), and the concave pulleys (12) are distributed on the left and right sides and the upper and lower ends of the sliding device (11). The concave parts of the concave pulleys (12) at the upper and lower ends are in close contact with the arc structure (21). 1) is placed on a convex guide rail to ensure that the sliding device (11) moves along the arc structure (21); a mechanical arm servo motor (15) is arranged on the external platform of the sliding device (11), and the external platform of the sliding device (11) is connected to the mechanical arm structure through a circular flange, and the mechanical arm structure is rotated at multiple angles through the mechanical arm servo motor (15); the mechanical arm structure includes a first mechanical arm (16), a second mechanical arm (17) and a third mechanical arm (18), and the mechanical arms are connected through multiple joint components to achieve multi-angle rotation; the end of the third mechanical arm (18) is connected to a permanent magnet (19), and the permanent magnet (19) is used to accurately control the movement of the capsule body through a magnetic drive mode;

[0016] The slide rail servo motor (14) of the sliding device (11) is fixedly connected by an upper connecting bolt (23) and a lower connecting bolt (24) to prevent sliding; the mechanical arm servo motor (15) of the sliding device (11) is connected by a circular connecting piece (22); the middle of the end plane of the permanent magnet (19) of the sliding device (11) is fixed by a bolt (21)

[0017] A sliding cushion (5) and a sliding stop ring (6) are also provided at the end of the guide rail screw rod (2); the sliding cushion (5) has a buffering effect on the base connecting member (4), and the sliding stop ring (6) has a stopping effect on the base connecting member (4); the base servo motor (9) at the end of the guide rail screw rod (2) is fixed by a connecting rod (7), and a control panel (8) is provided between the connecting rod (7) and the base servo motor (9).

[0018] Preferably, the sliding servo motor (14) of the sliding device (11) supports a command resolution of 14bit-16bit and a serial communication rate of 5Mbps-7Mbps. The sliding servo motor accurately and quickly receives control commands, controls the pinion (13) to slide on the ring gear (10), and realizes rapid positioning.

[0019] Preferably, the first mechanical arm (16) of the mechanical arm servo motor (15) of the sliding device (11) has a built-in first encoder, and the first encoder has a high resolution of 12bit-14bit, so that the control accuracy of the first mechanical arm (16) reaches an accuracy of less than 1°; the first mechanical arm (16) controls the second mechanical arm (17) through the built-in encoder, and the second encoder has a high resolution of 14bit-16bit, so that the control accuracy of the second mechanical arm (17) reaches an accuracy of less than 0.5°; the second mechanical arm (17) controls the third mechanical arm (18) through the built-in third encoder, and the third encoder has a high resolution of 18bit-20bit, so that the control accuracy of the third mechanical arm (18) reaches an accuracy of less than 0.1°. The first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) are controlled by the joints connected therebetween.

[0020] Preferably, a micro radiator is installed inside the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) of the sliding device (11), and the heat generated by the multi-angle rotation of the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) is discharged through the heat dissipation channels inside the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18), thereby achieving rapid heat dissipation.

[0021] A method for operating a magnetically controlled capsule-guided robotic arm comprises the following steps:

[0022] S1, initializing the external guidance robot arm system of the magnetically controlled capsule, setting the positions of the frame (1) and the arc structure (20), ensuring that all servo motors are in a standby state, and the patient swallows the capsule body and prepares to receive real-time image data;

[0023] S2, determine the target position according to the internal image of the digestive tract taken by the capsule, and use the particle swarm optimization algorithm to calculate the optimal joint angle sequence to minimize the terminal error and ensure that the capsule can accurately reach the predetermined inspection area;

[0024] S3, using the actual position and posture information fed back by the sensor, combined with the PID controller to generate a control signal and send it to the robot arm servo motor (14), adjust the motion trajectory of the robot arm structure, and accurately control the movement of the capsule body in the body by changing the position and direction of the permanent magnet (19);

[0025] S4, monitor whether the capsule moves along the expected path. If deviation is found, use the PSO algorithm to replan a new path with the shortest and lowest energy consumption until the capsule reaches the target point accurately;

[0026] S5. When the capsule reaches the designated position, it uses a high-resolution camera to capture images of the surrounding environment and transmits the images to the operating end through a wireless transmission module for the doctor to analyze and diagnose. If necessary, the permanent magnet is fine-tuned to improve the viewing angle or complete other tasks.

[0027] S6. After the inspection is completed, the robotic arm structure is gradually retracted to the initial position, the capsule is guided to exit the patient's body, and the system power is turned off.

[0028] Preferably, the particle swarm optimization algorithm in S2 includes the following contents: initializing a particle swarm, each particle represents a set of possible robot arm joint angle combinations, namely the angles (θ1, θ2, θ3) of the first robot arm (16), the second robot arm (17) and the third robot arm (18), the position of each particle is randomly generated within the allowed angle range, the speed is initialized to zero, and the particle position is updated, the formula is: in, is the current position of the ith particle in the jth dimension, is the updated speed of the ith particle in the jth dimension, is the updated position; The update speed formula is: Where w is the inertia weight; c1 and c2 are cognitive factors and social learning factors respectively; r1 is the single particle coefficient, r2 is the coefficient of all particles; pbest i，j is the best historical position gbest of the i-th particle j is the global optimal position of all particles in the jth dimension;

[0029] for A fitness function f(θ) is constructed, wherein a lower fitness function value indicates a better position, wherein the fitness function f(θ) combines the position error Q of the permanent magnet (19) and the energy consumption E; the position error Q is based on the current position P of the capsule body. cap and the target position P target The Euclidean distance between: The formula is: Where (x cap ,y cap 、z cap ) is calculated from the joint angles (θ1, θ2, θ3) through the inverse kinematics model, (x target ,y target 、z target ) is the target position of the capsule body; the energy consumption E is obtained by the rotational inertia I of the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) of the joint of the mechanical arm structure i and angular velocity ω i The formula is: Where i represents the i-th robotic arm; the fitness function f(θ) is constructed through the position error Q and the energy consumption E, and the formula is f(θ)=α·Q+β·E, where α is the weight coefficient of the error Q, and β is the weight coefficient of the energy consumption E; through multiple iterations, the capsule minimizes the error and reaches the predetermined inspection position.

[0030] Preferably, in the process of whether the capsule in S4 moves according to the expected path, a robot arm prediction mechanism is constructed to adjust the movement of the robot arm in real time. The robot arm prediction mechanism can predict the system state in the future within each time step by establishing a prediction model including the dynamic characteristics of the robot arm and the motion characteristics of the capsule; the robot arm prediction mechanism calculates the position and posture of the capsule in multiple future time steps according to the current state and control input, and optimizes and solves the optimal control sequence so that within the predicted time range, the capsule moves along the predetermined path and meets the dual goals of minimizing the terminal error and minimizing the energy consumption; the first control action in the optimal control sequence will be applied to the current time step, and the subsequent control actions will be optimized and calculated again in the next time step. The robot arm prediction mechanism can adjust the movement of the robot arm in real time to correct the path deviation of the capsule, ensuring that the future system behavior is always considered in the entire path planning process, thereby achieving more refined and dynamic path control.

[0031] Compared with the prior art, the technical solution of this application has the following technical effects:

[0032] The present invention solves the problem that traditional capsules cannot actively control the movement of the capsule by adopting a capsule module with a built-in high-resolution camera and permanent magnet, combined with an external guidance robotic arm system. This allows doctors to determine the target position based on the internal image of the digestive tract and use the particle swarm optimization algorithm to calculate the optimal joint angle sequence, thereby achieving precise movement of the capsule along a predetermined path in the patient's body, significantly improving the positioning accuracy and controllability during the examination process.

[0033] The present invention overcomes the technical problem of insufficient control accuracy in existing capsule control systems by respectively installing encoders with different resolutions on the first, second and third robotic arms. These encoders ensure that the robotic arms achieve an accuracy of less than 0.1° when rotating at multiple angles, thereby achieving highly precise control of the capsule's posture and position, greatly enhancing the accuracy and reliability of the diagnostic results.

[0034] The present invention arranges a micro radiator inside the robotic arm and designs a special heat dissipation channel to discharge the heat generated by multi-angle rotation, thereby effectively solving the problem of overheating of the robotic arm caused by long-term work, ensuring the stable performance of each joint component of the robotic arm under continuous operation, and also extending the service life of the entire system, providing more reliable support for medical examinations.

[0035] The present invention solves the technical problem of slow response and susceptibility to interference during the movement of the capsule by configuring the sliding servo motor to support 14-bit-16-bit command resolution and 5Mbps-7Mbps serial communication rate, and cooperating with the PID controller for real-time adjustment. This technical solution can quickly and accurately receive and execute control commands, maintain stable navigation performance even in complex physiological environments, and improve operational efficiency and user experience.

[0036] The present invention realizes the prediction of the state of the capsule in the future by constructing a prediction model that includes the dynamic characteristics of the robot arm and the motion characteristics of the capsule. The model can optimize and solve the optimal control sequence in each time step to ensure that the capsule moves smoothly along the predetermined path while meeting the requirements of minimizing the terminal error and minimizing the energy consumption, further enhancing the intelligence level of the capsule system and its ability to cope with complex situations.

[0037] The present invention improves the transmission quality and display effect of image data from the body to the operating end by integrating the image transmission module into the capsule module and giving it wireless communication and image processing functions. High-quality images not only help improve the speed and accuracy of doctors' analysis and diagnosis, but also allow them to improve the viewing angle or complete other tasks by fine-tuning the permanent magnet when necessary, thus greatly enriching the application scenarios and technical value of the capsule.

[0038] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings as follows.

[0039] Based on the detailed description of the specific embodiments of the present application in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0041] Figure 1 This is a general structural diagram of a magnetically controlled capsule guiding mechanical arm of the present invention;

[0042] Figure 2 This is an arc structure diagram of a magnetically controlled capsule guiding mechanical arm of the present invention;

[0043] Figure 3 This is a structural diagram of a sliding device for guiding a mechanical arm of a magnetically controlled capsule according to the present invention;

[0044] Figure 4 This is a diagram of a magnetically controlled capsule guiding mechanical arm system of the present invention;

[0045] Figure 5 This is a flowchart of the operation of a magnetically controlled capsule guiding mechanical arm of the present invention;

[0046] Figure 6 An optimal iteration table for a magnetically controlled capsule-guided mechanical arm according to the present invention;

[0047] Figure 7 The figure is a motion trajectory diagram of a capsule body of a magnetically controlled capsule body guiding a robotic arm according to the present invention.

[0048] Figure numerals: 1. frame; 2. slide rail screw; 3. slide rail base; 4. base connector; 5. slide rail pad; 6. slide rail stop ring; 7. connecting rod; 8. control panel; 9. base servo motor; 10. gear ring; 11. sliding device; 12. concave pulley; 13. pinion; 14. slide rail servo motor; 15. robot arm servo motor; 16. first robot arm; 17. second robot arm; 18. third robot arm; 19. permanent magnet; 20. arc structure; 21. bolt; 22. circular connector; 23. upper connecting bolt; 24. lower connecting bolt; 25. slide rail buckle; 26. lift. DETAILED DESCRIPTION

[0049] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all of the embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures is omitted in the embodiment.

[0050] It should be understood that the references to "one embodiment" or "this embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "one embodiment" or "this embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0051] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0052] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0053] The term "at least one" in this article is merely a description of the association relationship of associated objects, indicating that there may be three relationships. For example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0054] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0055] Example 1

[0056] This embodiment mainly describes a magnetically controlled capsule body guiding mechanical arm device, such as Figure 1-Figure 3 As shown;

[0057] A magnetically controlled capsule guiding mechanical arm device comprises a frame 1 and an arc structure 21; slide rails 3 are arranged on both sides of the top of the frame 1, and the slide rails 3 slide left and right through the slide rail buckles 25; a base connector 4 is connected to an elevator 26, and the arc structure 21 is controlled to move up and down through the elevator 26; a threaded hole is provided in the middle of the base connector 4, and a slide rail screw rod 2 is arranged in the threaded hole; the end of the slide rail screw rod 2 is connected to the base servo motor 9 to realize the left and right sliding of the arc structure 21;

[0058] A gear ring 10 is arranged on the upper side of the arc structure 21, and the sliding device 11 moves up and down through the gear ring 10. A pinion 13 is arranged inside the sliding device 11, and the pinion 13 is connected to the slide rail servo motor 14. The slide rail servo motor 14 drives the internal gear of the sliding device 11 to rotate to achieve continuous meshing with the gear ring 10 of the arc structure 21 for movement; a concave pulley 12 is arranged inside the sliding device 11, and the concave pulleys 12 are distributed on the left and right sides and the upper and lower ends of the sliding device 11, and the concave parts of the concave pulleys 12 at the upper and lower ends are in close contact with the convex guide rails of the arc structure 21. Place to ensure that the sliding device 11 moves along the arc structure 21; a mechanical arm servo motor 15 is set on the external platform of the sliding device 11, and the external platform of the sliding device 11 is connected to the mechanical arm structure through a circular flange, and the mechanical arm structure is rotated at multiple angles through the mechanical arm servo motor 15; the mechanical arm structure includes a first mechanical arm 16, a second mechanical arm 17 and a third mechanical arm 18, and the mechanical arms are connected through multi-joint components to achieve multi-angle rotation; the end of the third mechanical arm 18 is connected to a permanent magnet 19, and the permanent magnet 19 is used to accurately control the movement of the capsule body through a magnetic drive mode;

[0059] A sliding cushion 5 and a sliding stop ring 6 are also provided at the end of the slide rail screw rod 2. The sliding cushion 5 has a buffering effect on the base connecting member 4, and the sliding stop ring 6 has a stopping effect on the base connecting member 4. The base servo motor 9 at the end of the slide rail screw rod 2 is fixed by a connecting rod 7, and a control board 8 is provided between the connecting rod 7 and the base servo motor 9.

[0060] A concave pulley 12 is arranged inside the sliding device 11, and a gear ring 10 is connected in the middle of the concave pulley 12, and is arranged on both sides inside the sliding device 11. The concave pulley 12 is used to slide up and down. The concave pulley 12 is controlled to slide by a pinion 13. The pinion 13 is connected to a slide rail servo motor 14. The pinion 13 is controlled by the slide rail servo motor 14, and then the up and down sliding of the sliding device 11 is controlled; the slide rail servo motor 14 of the sliding device 11 is fixedly connected by an upper connecting bolt 23 and a lower connecting bolt 24 to prevent sliding; the mechanical arm servo motor 15 of the sliding device 11 is connected by a circular connecting piece 22; the permanent magnet 19 of the sliding device 11 is fixed in the middle of the end plane by a bolt 21;

[0061] By setting up a frame 1 and an arc structure 20, and configuring slide rails 4 on both sides of the top of the frame 1, the robot arm can slide left and right in the horizontal direction, and the sliding device 11 on the arc structure 20 can move up and down. Such a design provides a wide range of motion and flexibility. The use of the base servo motor 9 and the sliding servo motor 14 ensures the smooth and precise control of the robot arm in all directions, and the robot arm servo motor 15 further enhances the ability of multi-angle rotation, so that the robot arm can flexibly adjust its posture to adapt to different inspection requirements. The permanent magnet 19 connected to the end of the third robot arm 18 can use its strong magnetic force to accurately guide the capsule body, thereby achieving precise control of the position and posture of the capsule body.

[0062] Furthermore, the sliding servo motor 14 of the sliding device 11 supports a command resolution of 14-bit to 16-bit and a serial communication rate of 5Mbps to 7Mbps. The sliding servo motor receives control commands accurately and quickly, controls the pinion 13 to slide on the ring gear 10, and realizes rapid positioning.

[0063] The sliding servo motor 14 used in the sliding device 11 supports high command resolution and high-speed communication rate, which enables it to quickly and accurately receive and execute control commands, greatly improving the response speed and positioning accuracy of the system. Through the cooperation of the pinion 13 and the ring gear 10, the sliding servo motor 14 can achieve precise positioning of the sliding device on the arc structure 20, ensuring the stability and accuracy of the robotic arm at different heights and positions. This high precision and fast response feature is particularly important for medical applications that require real-time adjustment and precise control, and can significantly improve operational efficiency and safety.

[0064] Further, the first mechanical arm 16 of the mechanical arm servo motor 15 of the sliding device 11 has a built-in first encoder, and the first encoder has a high resolution of 12-bit-14-bit, so that the control accuracy of the first mechanical arm 16 can reach an accuracy of less than 1°; the first mechanical arm 16 controls the second mechanical arm 17 through the built-in encoder, and the second encoder has a high resolution of 14-bit-16-bit, so that the control accuracy of the second mechanical arm 17 can reach an accuracy of less than 0.5°; the second mechanical arm 17 controls the third mechanical arm 18 through the built-in third encoder, and the third encoder has a high resolution of 18-bit-20-bit, so that the control accuracy of the third mechanical arm 18 can reach an accuracy of less than 0.1°. The first mechanical arm 16, the second mechanical arm 17 and the third mechanical arm 18 are controlled by the joints connected therebetween;

[0065] The high-resolution encoder built into the robotic arm servo motor 14 can achieve precise control of the first robotic arm 16, the second robotic arm 17 and the third robotic arm 18, wherein the first encoder has a resolution of 12-bit-14-bit, the second encoder has a resolution of 14-bit-16-bit, and the third encoder has a resolution of 18-bit-20-bit. These high-resolution encoders enable the robotic arm to achieve very high accuracy when rotating at multiple angles, minimizing the error of the joint angle, thereby ensuring the precise positioning of the capsule in the patient's body. This high-precision control capability is crucial for complex in vivo navigation, ensuring that the capsule can move accurately on the predetermined path, reducing unnecessary deviations and misoperations.

[0066] Furthermore, micro radiators are installed inside the first mechanical arm 16, the second mechanical arm 17 and the third mechanical arm 18 of the sliding device 11, and the heat generated by the multi-angle rotation of the first mechanical arm 16, the second mechanical arm 17 and the third mechanical arm 18 is discharged through the heat dissipation channels inside the first mechanical arm 16, the second mechanical arm 17 and the third mechanical arm 18 through the micro radiators, thereby achieving rapid heat dissipation;

[0067] To address the heat problem generated by the robotic arm during multi-angle rotation, miniature radiators are installed inside the first robotic arm 16, the second robotic arm 17 and the third robotic arm 18. These radiators can quickly discharge the heat generated by the frequent rotation of the robotic arm through the internal heat dissipation channel, effectively preventing overheating. Good heat dissipation performance not only extends the service life of the robotic arm, but also ensures stability and reliability during long-term operation. In addition, an efficient heat dissipation system helps to keep the operating temperature of each component of the robotic arm within a safe range, avoiding performance degradation or damage due to overheating.

[0068] This embodiment adopts a connection design of a slide rail screw, a base connector, and an arc structure, and a magnetically controlled capsule guiding robot arm device solves the problem of insufficient stability of the traditional robot arm during movement. This connection structure not only provides a stable support foundation to ensure the smooth movement of the robot arm during the entire inspection process, but also effectively reduces the vibration and impact of the robot arm during movement through the design of the sliding cushion and the sliding stop circle, thereby improving the positioning accuracy. In addition, the use of the slide rail servo motor and the pinion gear realizes fast and accurate up and down sliding control, further enhancing the flexibility and response speed of the robot arm operation. These improvements jointly improve the stability and accuracy of the capsule body's navigation in the patient's body, providing doctors with a more reliable operating platform.

[0069] Example 2

[0070] This embodiment describes in detail an optimized structure of an arc structure of a magnetically controlled capsule guiding a robotic arm device;

[0071] The arc structure 20 is a key component in the external guiding mechanical arm device of the magnetically controlled capsule, which provides a stable operating platform for the sliding component 11 and ensures the stability and flexibility of the entire system. The arc structure 20 is optimized by using finite element analysis technology to optimize the geometric shape of the arc structure 20, adopt a more reasonable cross-sectional design, increase the thickness of the cross section or use reinforcing ribs to improve the overall rigidity of the structure and reduce deformation during operation.

[0072] Damping materials or vibration-reducing elements are introduced into key parts of the arc-shaped structure 20, and rubber pads or vibration-reducing springs are added at the connection points and support points to absorb and disperse vibrations, thereby improving stability during surgery;

[0073] The arc structure 20 is made of high-strength, lightweight alloy material, which can provide sufficient strength and rigidity, reduce the overall weight, and improve the response speed and operational flexibility of the system; at the same time, the surface of the arc structure 20 is anodized or coated to improve its corrosion resistance and wear resistance, and extend its service life. The surface treatment can also improve the appearance, making it more in line with the hygiene requirements of the medical environment;

[0074] The arc structure 20 uses a high-precision linear guide rail or ball screw system to ensure that the sliding component 11 moves smoothly and without gaps on the arc structure 20, reducing friction and improving positioning accuracy;

[0075] A plurality of supporting points are arranged on the arc structure 20 to ensure that the sliding component 11 can be evenly supported at different positions, thereby avoiding deviation or vibration caused by uneven local force.

[0076] A heat dissipation channel is designed inside the arc structure 20 to quickly conduct the heat generated by the slide servo motor 14 and other heat-generating components. Micro radiators are installed at key locations to further improve the heat dissipation efficiency and ensure the stability of the system during long-term operation. A thermal isolation layer is set between the arc structure 20 and the sliding component 11 to reduce heat transfer and protect sensitive electronic components and sensors from high temperatures.

[0077] The arc structure 20 is designed as a modular component to facilitate assembly, disassembly and maintenance. Each module can be replaced independently, which reduces maintenance costs and improves the maintainability of the system. An expansion interface is reserved on the arc structure 20 so that new functional modules can be easily added or existing components can be upgraded when needed in the future, thereby maintaining the advancement and adaptability of the system.

[0078] This embodiment introduces an optimized structure of the arc structure of a magnetically controlled capsule guiding robot arm device. Through geometric shape optimization and material selection, the arc structure has higher rigidity and reduces deformation and vibration during operation; the built-in heat dissipation channel and micro radiator effectively control the temperature and ensure the stability of the system during long-term operation; the high-precision guide rail system and multi-point support design ensure the smooth movement and precise positioning of the sliding component 11; the modular design makes maintenance and upgrading more convenient and reduces long-term operating costs; the reserved expansion interface and flexible design enable the system to adapt to future technology upgrades and functional expansions.

[0079] Example 3

[0080] This embodiment, based on Embodiment 1, describes in detail a magnetically controlled capsule guiding robot arm system, including a capsule body module, an image transmission module, a robot arm operation module, a slide rail operation module, and an operation end;

[0081] The capsule module includes a built-in camera and a built-in permanent magnet. The built-in camera captures a real-time image of the current position of the capsule and transmits the image data to the operating end through wireless transmission. The built-in permanent magnet interacts with the permanent magnet 19 at the end of the third mechanical arm 18, and the movement of the built-in capsule in the body is controlled by the permanent magnet 19.

[0082] The image transmission module is installed on the capsule module to capture in-vivo images, transmit the images to the operating end through wireless communication, and control the movement of the capsule through the image manipulation robot. The image transmission module also has image processing capabilities to optimize the image quality of the received images.

[0083] The robot arm operation module includes a robot arm servo motor 14, a first robot arm 16, a second robot arm 17, a third robot arm 18 and a permanent magnet 19; the robot arm servo motor 14 controls the first robot arm 16 through a built-in first encoder, controls the second robot arm 17 through a second encoder, and controls the third robot arm 18 through a third encoder to achieve precise omnidirectional movement; the robot arm operation module controls the posture and trajectory of the capsule in the patient's body by changing the position and direction of the permanent magnet 19;

[0084] The slide rail operation module includes slide rails 3 on both sides and an arc structure 20; the slide rail 3 provides a stable support base to ensure that the robot arm moves smoothly during the entire inspection process, and the arc structure 20 is fixed on the top of the slide rail to provide a wide range of movement for the robot arm;

[0085] The operating end controls the robot arm operation module by receiving images to achieve precise guidance;

[0086] The magnetically controlled capsule external guidance robot system forms a highly coordinated closed-loop control system by integrating the capsule module, image transmission module, robot operation module and slide rail operation module. The built-in camera of the capsule module can capture the position information of the capsule in the digestive tract in real time, and send the image data to the operation end through wireless transmission, so that the doctor can intuitively monitor the current position and posture of the capsule; the image transmission module is not only responsible for the shooting and transmission of high-quality images, but also has image processing capabilities, which can optimize image quality and provide a clearer field of view. The robot operation module realizes omnidirectional movement through high-precision servo motors and encoders to ensure the precise positioning and posture adjustment of the capsule in the patient's body; the slide rail operation module provides a stable support foundation to ensure the smooth movement of the robot arm during the entire examination process. This integrated design not only improves the accuracy and safety of surgical operations, but also provides doctors with an efficient and intuitive operating environment, improving the overall quality of medical services.

[0087] Furthermore, the robot arm operation module includes a position sensor and an angle sensor; the position sensor and the angle sensor are both installed at the joints of the first robot arm 16, the second robot arm 17, and the third robot arm 18, and the action position of the robot arm operation module is fed back through the position sensor, and the action position is transmitted to the operation end for control; the angle sensor feeds back the angle size of the first robot arm 16, the second robot arm 17, and the third robot arm 18 through angle measurement, and at the same time feeds back the angle size of the permanent magnet 19 of the third robot arm 18 through the angle sensor, and transmits the angle size to the operation end to achieve precise control;

[0088] The position sensors and angle sensors included in the robot arm operation module are installed at the joints of the first robot arm 16, the second robot arm 17 and the third robot arm 18. These sensors can provide real-time feedback on the actual position and angle of the robot arms. Through data collection by the position sensors and angle sensors, the system can accurately monitor the specific position and posture changes of the robot arms when performing tasks, thereby providing key information for the closed-loop feedback control system; this real-time feedback mechanism enables the system to dynamically adjust the movement of the robot arms to ensure the precise positioning and posture control of the capsule in the patient's body. The high resolution and fast response characteristics of the sensors ensure the high precision and stability of the system, further improving the safety and reliability of surgical operations.

[0089] Furthermore, the robot arm operation module obtains data collected by the position sensor and the angle sensor and processes them through the PID controller. After receiving the instruction, the PID controller obtains the actual position and posture information of the capsule through the image captured by the camera of the capsule and the data of the position sensor and the angle sensor, compares the actual position with the target position, calculates the current position error, calculates the control amount through the error, and outputs the control signal through the control amount to the robot arm servo motor 14 for adjustment, thereby changing the posture and position of the capsule;

[0090] The robot operation module uses the PID controller to process the data collected by the position sensor and the angle sensor, and obtains the actual position and posture information of the capsule by combining the image captured by the built-in camera of the capsule. The PID controller calculates the current position error by comparing the actual position with the target position, and generates corresponding control signals according to the error value; these control signals are sent to the robot servo motor 14 to drive the robot to make precise adjustments to change the posture and position of the capsule; the core advantage of the PID controller is that it can monitor and adjust the movement of the robot in real time to ensure that the capsule always moves along the predetermined path. This closed-loop control strategy not only improves the response speed and accuracy of the system, but also can maintain the stable movement of the capsule in a complex environment, ensuring the efficiency and accuracy of the entire inspection process.

[0091] A module process of a magnetically controlled capsule-guided robotic arm system is as follows: Figure 3As shown in the figure, in the control process of the system, after the system is started, the robot arm operation module adjusts the position and angle of the magnet through closed-loop control, thereby controlling the movement of the capsule robot; the capsule robot is equipped with a camera and a permanent magnet, and through real-time image transmission, medical staff can observe the situation in the lesion area and identify the lesion accordingly. Then, in the medical operation process, the medical staff makes operational decisions based on the results of lesion identification, and guides the robot arm to continue to adjust the position and angle of the magnet until all necessary inspection or treatment steps are completed; this process reflects the close collaboration between internal and external equipment of the system, as well as the precise operation achieved through real-time feedback and closed-loop control.

[0092] This implementation details a magnetically controlled capsule guiding robotic arm system that integrates high-precision servo motors, encoders and multiple sensors, combined with real-time image transmission and advanced closed-loop control strategies, to achieve precise guidance and positioning of the capsule in the patient's digestive tract. The system can not only provide stable support and flexible multi-angle movement, but also monitor and adjust the position and posture of the capsule in real time to ensure its accurate movement along the predetermined path while minimizing energy consumption and terminal errors, thereby significantly improving the accuracy, safety and efficiency of the examination, and providing doctors with an efficient and reliable surgical operating environment.

[0093] Example 4

[0094] Based on the above embodiment, this embodiment introduces in detail a method for operating a magnetically controlled capsule-guided robotic arm. Figure 5 As shown, the following steps are included:

[0095] S1, initializing the external guidance robot arm system of the magnetically controlled capsule, setting the positions of the frame 1 and the arc structure 20, ensuring that all servo motors are in a standby state, and the patient swallows the capsule to prepare for receiving real-time image data;

[0096] S2, determine the target position according to the internal image of the digestive tract taken by the capsule, and use the particle swarm optimization algorithm to calculate the optimal joint angle sequence to minimize the terminal error and ensure that the capsule can accurately reach the predetermined inspection area;

[0097] S3, using the actual position and posture information fed back by the sensor, combined with the PID controller to generate a control signal and send it to the robot arm servo motor 14, adjust the motion trajectory of the robot arm structure, and accurately control the movement of the capsule in the body by changing the position and direction of the permanent magnet 19;

[0098] S4, monitor whether the capsule moves along the expected path. If deviation is found, use the PSO algorithm to replan a new path with the shortest and lowest energy consumption until the capsule reaches the target point accurately;

[0099] S5. When the capsule reaches the designated position, it uses a high-resolution camera to capture images of the surrounding environment and transmits the images to the operating end through a wireless transmission module for the doctor to analyze and diagnose. If necessary, the permanent magnet is fine-tuned to improve the viewing angle or complete other tasks.

[0100] S6. After the inspection is completed, the robotic arm structure is gradually retracted to the initial position, the capsule is guided to exit the patient's body, and the system power is turned off.

[0101] Furthermore, the particle swarm optimization algorithm in S2 includes the following: initializing the particle swarm, each particle represents a set of possible robot arm joint angle combinations, namely the angles 01, 02, θ3 of the first robot arm, the second robot arm, and the third robot arm. The position of each particle is randomly generated within the allowed angle range, the speed is initialized to zero, and the particle position is updated. The formula is: in, is the current position of the ith particle in the jth dimension, is the updated speed of the ith particle in the jth dimension, is the updated position; The update speed formula is: Where w is the inertia weight; c1 and c2 are cognitive factors and social learning factors respectively; r1 is the single particle coefficient, r2 is the coefficient of all particles; pbest i,j is the best historical position gbest of the i-th particle j is the global optimal position of all particles in the jth dimension;

[0102] for Construct a fitness function f(θ). The lower the fitness function value, the better the position. The fitness function f(θ) combines the position error Q of the permanent magnet 19 and the energy consumption E. The position error Q is based on the current position P of the capsule. cap and the target position P target The Euclidean distance between: The formula is: where x cap ,y cap 、z cap Calculated from the joint angles θ1, θ2, and θ3 through the inverse kinematics model, x target ,y target 、z target is the target position of the capsule; the energy consumption E passes through the rotational inertia I of the first mechanical arm, the second mechanical arm and the third mechanical arm of the mechanical arm structure i and angular velocity ω i The formula is: Where i represents the i-th robot arm; the fitness function f(θ) is constructed through the position error Q and energy consumption E, and the formula is f(θ) = α·Q+β·E, where α is the weight coefficient of the error Q and β is the weight coefficient of the energy consumption E; through multiple iterations, the capsule minimizes the error and reaches the predetermined inspection position;

[0103] For multiple iterations, such as Figure 6 As shown in the figure, with the increase of the number of iterations, the global optimal fitness of the particle gradually stabilizes, and the fitness function converges to a lower error value. After many iterations, a relatively good solution is found, and the expected objective function value is achieved. According to the current fitness value, it is determined that the actual coordinates of the capsule controlled by the permanent magnet are very close to the target coordinates, and the iteration process is stopped, and the final result is output. By optimizing the path and the control of the permanent magnet, the optimized motion path of the particle is displayed, as shown in the figure. Figure 7 As shown, it is possible to intuitively identify whether the optimized path of the capsule meets the target coordinate planning route.

[0104] Furthermore, in the process of whether the capsule in S4 moves according to the expected path, a robot arm prediction mechanism is constructed to adjust the movement of the robot arm in real time. The robot arm prediction mechanism can predict the system state in the future within each time step by establishing a prediction model that includes the dynamic characteristics of the robot arm and the motion characteristics of the capsule. The robot arm prediction mechanism calculates the position and posture of the capsule in multiple future time steps based on the current state and control input, and optimizes and solves the optimal control sequence so that within the predicted time range, the capsule moves along the predetermined path and meets the dual goals of minimizing the terminal error and minimizing the energy consumption. The first control action in the optimal control sequence will be applied to the current time step, and the subsequent control actions will be optimized and calculated again in the next time step. The robot arm prediction mechanism can adjust the movement of the robot arm in real time to correct the path deviation of the capsule, ensuring that the future system behavior is always considered in the entire path planning process, thereby achieving more refined and dynamic path control.

[0105] In this embodiment, a magnetically controlled capsule guiding robot arm operation method realizes precise guidance and positioning of the capsule in the patient's digestive tract by integrating high-precision servo motors, encoders and sensors, combining real-time image transmission and advanced PID control strategies, and can ensure that the capsule moves smoothly along a predetermined path, and can quickly re-plan the optimal path when a path deviation is detected, thereby significantly improving the accuracy, safety and efficiency of the examination, and providing doctors with an efficient and reliable surgical operation environment.

[0106] The above are only preferred embodiments of the present invention, which do not limit the scope of protection of the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any changes, modifications, replacements, integrations and parameter changes to these embodiments within the spirit and principles of the present invention through conventional substitutions or without departing from the principles and spirit of the present invention fall within the scope of protection of the present invention.

Claims

1. A magnetically controlled capsule guiding robot arm system, characterized in that: It includes a robotic arm operation module, a capsule body module, an image transmission module, a slide rail operation module and an operation terminal; The robot arm operation module comprises a robot arm servo motor (14), a first robot arm (16), a second robot arm (17), a third robot arm (18) and a permanent magnet (19); the robot arm servo motor (14) controls the first robot arm (16) through a built-in first encoder, controls the second robot arm (17) through a second encoder, and controls the third robot arm (18) through a third encoder, so as to achieve precise omnidirectional movement; the robot arm operation module controls the posture and trajectory of the capsule in the patient's body by changing the position and direction of the permanent magnet (19); The capsule module comprises a built-in camera and a built-in permanent magnet. The built-in camera captures a real-time image of the current position of the capsule and transmits the image data to the operating end through wireless transmission. The built-in permanent magnet interacts with a permanent magnet (19) at the end of the third mechanical arm (18), and the movement of the built-in capsule in the body is controlled by the permanent magnet (19). The image transmission module is installed on the capsule module to capture in-vivo images, transmit the images to the operating end through wireless communication, and control the movement of the capsule through the image manipulation robot; the image transmission module also has image processing capabilities to optimize the image quality of the received images; The slide rail operation module comprises slide rails (3) on both sides and an arc structure (20); the slide rails (3) provide a stable support base to ensure that the robot arm moves smoothly during the entire inspection process, and the arc structure (20) is fixed to the top of the slide rail to provide a wide range of movement for the robot arm; The operating end controls the robot arm operating module by receiving images to achieve precise guidance.

2. A magnetically controlled capsule guided robot arm system according to claim 1, characterized in that: The robot arm operation module comprises a position sensor and an angle sensor; the position sensor and the angle sensor are both installed at the joints of the first robot arm (16), the second robot arm (17), and the third robot arm (18); the action position of the robot arm operation module is fed back through the position sensor, and the action position is transmitted to the operation end for control; the angle sensor feeds back the angle size of the first robot arm (16), the second robot arm (17), and the third robot arm (18) through angle measurement, and at the same time feeds back the angle size of the permanent magnet (19) of the third robot arm (18) through the angle sensor, and transmits the angle size to the operation end to achieve precise control.

3. A magnetically controlled capsule guiding robot arm system according to claim 2, characterized in that: The robot arm operation module obtains data collected by the position sensor and the angle sensor and processes them through a PID controller. After receiving the instruction, the PID controller obtains the actual position and posture information of the capsule body through the image captured by the camera of the capsule body and the data of the position sensor and the angle sensor, compares the actual position with the target position, calculates the current position error, calculates the control amount through the error, and outputs a control signal through the control amount to the robot arm servo motor (14) for adjustment, thereby changing the posture and position of the capsule body.

4. A magnetically controlled capsule guiding robot arm device, characterized in that: The invention comprises a frame (1) and an arc-shaped structure (21); slide rails (3) are arranged on both sides of the top of the frame (1), and the slide rails (3) slide left and right through slide rail buckles (25); the base connecting member (4) is connected to an elevator (26), and the arc-shaped structure (21) is controlled to move up and down through the elevator (26); a threaded hole is provided in the middle of the base connecting member (4), and a slide rail screw rod (2) is arranged in the threaded hole; the end of the slide rail screw rod (2) is connected to a base servo motor (9) to realize the left and right sliding of the arc-shaped structure (21); A gear ring (10) is arranged on the upper side of the arc structure (21), and the sliding device (11) moves up and down through the gear ring (10). A pinion (13) is arranged on the inner side of the sliding device (11), and the pinion (13) is connected to a slide rail servo motor (14). The slide rail servo motor (14) drives the internal gear of the sliding device (11) to rotate so as to continuously mesh with the gear ring (10) of the arc structure (21) for movement. A concave pulley (12) is arranged inside the sliding device (11), and the concave pulleys (12) are distributed on the left and right sides and the upper and lower ends of the sliding device (11). The concave parts of the concave pulleys (12) at the upper and lower ends are in close contact with the arc structure (21). 1) is placed on a convex guide rail to ensure that the sliding device (11) moves along the arc structure (21); a mechanical arm servo motor (15) is arranged on the external platform of the sliding device (11), and the external platform of the sliding device (11) is connected to the mechanical arm structure through a circular flange, and the mechanical arm structure is rotated at multiple angles through the mechanical arm servo motor (15); the mechanical arm structure includes a first mechanical arm (16), a second mechanical arm (17) and a third mechanical arm (18), and the mechanical arms are connected through multiple joint components to achieve multi-angle rotation; the end of the third mechanical arm (18) is connected to a permanent magnet (19), and the permanent magnet (19) is used to accurately control the movement of the capsule body through a magnetic drive mode; The slide rail servo motor (14) of the sliding device (11) is fixedly connected by an upper connecting bolt (23) and a lower connecting bolt (24) to prevent sliding; the mechanical arm servo motor (15) of the sliding device (11) is connected by a circular connecting piece (22); the middle of the end plane of the permanent magnet (19) of the sliding device (11) is fixed by a bolt (21) A sliding cushion (5) and a sliding stop ring (6) are also provided at the end of the guide rail screw rod (2); the sliding cushion (5) has a buffering effect on the base connecting member (4), and the sliding stop ring (6) has a stopping effect on the base connecting member (4); the base servo motor (9) at the end of the guide rail screw rod (2) is fixed by a connecting rod (7), and a control panel (8) is provided between the connecting rod (7) and the base servo motor (9).

5. The magnetically controlled capsule guiding mechanical arm device according to claim 4, characterized in that: The sliding servo motor (14) of the sliding device (11) supports a command resolution of 14-bit to 16-bit and a serial communication rate of 5Mbps to 7Mbps. The sliding servo motor accurately and quickly receives control commands, controls the pinion (13) to slide on the gear ring (10), and realizes rapid positioning.

6. A magnetically controlled capsule guiding mechanical arm device according to claim 4 or 5, characterized in that: The first mechanical arm (16) of the mechanical arm servo motor (15) of the sliding device (11) has a built-in first encoder, and the first encoder has a high resolution of 12-bit-14-bit, so that the control accuracy of the first mechanical arm (16) can reach an accuracy of less than 1°; the first mechanical arm (16) controls the second mechanical arm (17) through the built-in encoder, and the second encoder has a high resolution of 14-bit-16-bit, so that the control accuracy of the second mechanical arm (17) can reach an accuracy of less than 0.5°; the second mechanical arm (17) controls the third mechanical arm (18) through the built-in third encoder, and the third encoder has a high resolution of 18-bit-20-bit, so that the control accuracy of the third mechanical arm (18) can reach an accuracy of less than 0.1°. The first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) are controlled by the joints connected therebetween.

7. The magnetically controlled capsule guiding mechanical arm device according to claim 6, characterized in that: Micro heat sinks are installed inside the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) of the sliding device (11). The heat generated by the multi-angle rotation of the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) is discharged through the heat dissipation channels inside the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18), thereby achieving rapid heat dissipation.

8. A method for operating a magnetically controlled capsule-guided robotic arm, characterized in that: The following steps are involved: S1, initializing the external guidance robot arm system of the magnetically controlled capsule, setting the positions of the frame (1) and the arc structure (20), ensuring that all servo motors are in a standby state, and the patient swallows the capsule body and prepares to receive real-time image data; S2, determine the target position according to the internal image of the digestive tract taken by the capsule, and use the particle swarm optimization algorithm to calculate the optimal joint angle sequence to minimize the terminal error and ensure that the capsule can accurately reach the predetermined inspection area; S3, using the actual position and posture information fed back by the sensor, combined with the PID controller to generate a control signal and send it to the robot arm servo motor (14), adjust the motion trajectory of the robot arm structure, and accurately control the movement of the capsule body in the body by changing the position and direction of the permanent magnet (19); S4, monitor whether the capsule moves along the expected path. If deviation is found, use the PSO algorithm to replan a new path with the shortest and lowest energy consumption until the capsule reaches the target point accurately; S5. When the capsule reaches the designated position, it uses a high-resolution camera to capture images of the surrounding environment and transmits the images to the operating end through a wireless transmission module for the doctor to analyze and diagnose. If necessary, the permanent magnet is fine-tuned to improve the viewing angle or complete other tasks. S6. After the inspection is completed, the robotic arm structure is gradually retracted to the initial position, the capsule is guided to exit the patient's body, and the system power is turned off.

9. A magnetically controlled capsule external body mechanical arm operation method according to claim 8, characterized in that: The particle swarm optimization algorithm in S2 includes the following: initializing the particle swarm, each particle represents a set of possible robot arm joint angle combinations, namely the angles (θ1, θ2, θ3) of the first robot arm (16), the second robot arm (17) and the third robot arm (18), the position of each particle is randomly generated within the allowed angle range, the speed is initialized to zero, and the particle position is updated, the formula is: in, is the current position of the ith particle in the jth dimension, is the updated speed of the ith particle in the jth dimension, is the updated position; The update speed formula is: Where w is the inertia weight; c1 and c2 are cognitive factors and social learning factors respectively; r1 is the single particle coefficient, r2 is the coefficient of all particles; pbest i,j is the best historical position gbest of the i-th particle j is the global optimal position of all particles in the jth dimension; for A fitness function f(θ) is constructed, wherein a lower fitness function value indicates a better position, wherein the fitness function f(θ) combines the position error Q of the permanent magnet (19) and the energy consumption E; the position error Q is based on the current position P of the capsule body. cap and the target position P target The Euclidean distance between: The formula is: Where (x cap ,y cap 、z cap ) is calculated from the joint angles (θ1, θ2, θ3) through the inverse kinematics model, (x target ,y target 、z target ) is the target position of the capsule body; the energy consumption E is obtained by the rotational inertia I of the first mechanical arm (16), the second mechanical arm (17) and the third mechanical arm (18) of the joints of the mechanical arm structure i and angular velocity ω i The formula is: Where i represents the i-th robotic arm; the fitness function f(θ) is constructed through the position error Q and the energy consumption E, and the formula is f(θ)=α·Q+β·E, where α is the weight coefficient of the error Q, and β is the weight coefficient of the energy consumption E; through multiple iterations, the capsule minimizes the error and reaches the predetermined inspection position.

10. The method for operating a magnetically controlled capsule-guided robot arm according to claim 8, characterized in that: In the process of whether the capsule in S4 moves according to the expected path, a robot arm prediction mechanism is constructed to adjust the movement of the robot arm in real time. The robot arm prediction mechanism can predict the system state in the future within each time step by establishing a prediction model including the dynamic characteristics of the robot arm and the motion characteristics of the capsule. The robot arm prediction mechanism calculates the position and posture of the capsule in multiple future time steps according to the current state and control input, and optimizes and solves the optimal control sequence so that within the predicted time range, the capsule moves along the predetermined path and meets the dual goals of minimizing the terminal error and minimizing the energy consumption. The first control action in the optimal control sequence will be applied to the current time step, and the subsequent control actions will be optimized and calculated again in the next time step. The robot arm prediction mechanism can adjust the movement of the robot arm in real time to correct the path deviation of the capsule, ensuring that the future system behavior is always considered in the entire path planning process, thereby achieving more refined and dynamic path control.

Images