Capsule type endoscope control method and system

Abstract

The invention discloses a capsule type endoscope control method and system.The method comprises the steps that in the process that an external magnet moves and drives an endoscope to move, pressure borne by the outer end face of the external magnet is detected; and if the pressure exceeds the preset range, controlling the external magnet to execute a preset action. When the external magnet makes contact with the body of the examinee, the outer end face of the external magnet is pressed, the pressure borne by the outer end face of the external magnet is detected, the external magnet is controlled to execute the preset action when the pressure exceeds the preset range, and the external magnet does not continue to move towards the body of the examinee when executing the preset action. Therefore, the external magnet can be prevented from continuously moving to collide with the examinee, the situation that the external magnet collides with the examinee and hurt the body of the examinee can be reduced, the situation that an operator needs to keep concentrated to prevent the external magnet from colliding with the examinee can be avoided, and the labor intensity of the operator can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of electrical technology, and in particular to a capsule endoscope control method and system. Background Art

[0002] One working mode of a capsule endoscope is that the subject takes the capsule endoscope orally. The capsule endoscope carries a magnet (hereinafter referred to as the "internal magnet"). The control system is provided with an external magnet. By moving the external magnet and relying on the magnetic effect between the external magnet and the internal magnet of the capsule endoscope, the capsule endoscope is controlled to perform movements such as translation, rotation, and tumbling in the subject's body cavity, thereby achieving a controllable examination of the subject, such as examination of the human stomach.

[0003] In order to prevent the mechanical equipment from touching the subject's body during operation and causing harm to the subject, in the prior art, the operator needs to operate the handle to control the movement of the external magnet while observing the distance between the external magnet and the subject. The operator needs to concentrate all the time and carefully observe the movement of the external magnet to prevent the external magnet from colliding with the subject and causing harm to the subject's body. Therefore, the operator is prone to fatigue and needs a lot of training to operate the equipment proficiently. There is also a risk of collision with the subject's body due to operator error. Summary of the invention

[0004] The object of the present invention is to provide a capsule endoscope control method and system, which can reduce the situation where an external magnet collides with a subject and causes harm to the subject's body, and can reduce the operator's labor intensity.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A capsule endoscope control method, comprising:

[0007] When the external magnet moves and drives the endoscope to move, detecting the pressure exerted on the outer end surface of the external magnet;

[0008] If the pressure exceeds a preset range, the external magnet is controlled to perform a preset action.

[0009] Optionally, the outer end surface of the external magnet includes a bottom surface and a side surface of the external magnet;

[0010] Detecting the pressure exerted on the outer end surface of the external magnet includes: detecting the pressure exerted on the bottom surface of the external magnet and detecting the pressure exerted on the side surface of the external magnet.

[0011] Optionally, a sensor is provided on the outer end surface of the external magnet, the sensor is used to detect the pressure exerted on the outer end surface of the external magnet, the sensor comprises a variable resistor and an output end, the resistance value of the variable resistor changes with the pressure exerted on the variable resistor, and the output voltage of the output end reflects the change in the resistance value of the variable resistor;

[0012] The pressure exceeding a preset range includes: an output voltage of the output end exceeding a preset voltage range.

[0013] Optionally, the sensor further includes a reference resistor, the variable resistor and the reference resistor are connected in series, and the output end is led out from the connection between the variable resistor and the reference resistor.

[0014] Optionally, a plurality of the sensors are arranged on the outer end surface of the external magnet, and the variable resistors of the plurality of sensors are arranged on the substrate in an array form.

[0015] Optionally, a plurality of sensors are provided on the outer end surface of the external magnet, and the sensors are used to detect the pressure exerted on the outer end surface of the external magnet;

[0016] If the pressure exceeds a preset range, controlling the external magnet to perform a preset action includes:

[0017] If the pressure detected by at least one of the sensors exceeds the preset range, the external magnet is controlled to perform the preset action.

[0018] Optionally, if the pressure exceeds a preset range, controlling the external magnet to perform a preset action includes:

[0019] Output SC= S1 &&…&& Sn. If the output SC is a low level, the external magnet is controlled to perform a preset action, wherein n sensors are arranged on the outer end surface of the external magnet, S1,…,Sn respectively represent the level generated by the pressure detected by the first sensor,… and the level generated by the pressure detected by the nth sensor, n is a positive integer greater than 1, and for any sensor, a low level is generated when the pressure detected by the sensor exceeds the preset range, otherwise a high level is generated.

[0020] Optionally, controlling the external magnet to perform a preset action includes:

[0021] The external magnet is controlled to stop moving, or is controlled to move in a direction opposite to an original moving direction, wherein the original moving direction is the moving direction of the external magnet when it is detected that the pressure exerted on the outer end surface of the external magnet exceeds the preset range.

[0022] A capsule endoscope control system, comprising:

[0023] A sensor is arranged on the outer end surface of the external magnet, and is used to detect the pressure on the outer end surface of the external magnet when the external magnet moves and drives the endoscope to move;

[0024] A control device is connected to the sensor for controlling the external magnet to perform a preset action if the pressure exceeds a preset range.

[0025] Optionally, the control device includes a mechanical arm, at the end of which the external magnet is disposed, and the external magnet is driven to move by the mechanical arm.

[0026] It can be seen from the above technical scheme that the present invention provides a capsule endoscope control method and system, the method includes: in the process of the external magnet moving and driving the endoscope to move, detecting the pressure on the outer end face of the external magnet; if the pressure exceeds the preset range, controlling the external magnet to perform a preset action. In the process of the external magnet moving and driving the endoscope to move, the outer end face of the external magnet will be subjected to pressure when the external magnet contacts the body of the subject. The capsule endoscope control method and system of the present invention detects the pressure on the outer end face of the external magnet, and controls the external magnet to perform a preset action when the pressure exceeds the preset range. The external magnet performs the preset action by preventing the external magnet from continuing to move toward the body of the subject, thereby preventing the external magnet from continuing to move and colliding with the subject, thereby reducing the situation where the external magnet collides with the subject and causes harm to the subject's body, and avoiding the need for the operator to stay focused to prevent the external magnet from colliding with the subject, which can reduce the operator's labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A flowchart of a capsule endoscope control method provided by an embodiment of the present invention;

[0029] Figure 2 A circuit diagram of a sensor for a capsule endoscope control method provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a method for controlling a capsule endoscope provided in one embodiment of the present invention, in which a sensor is arranged on an outer end surface of an external magnet;

[0031] Figure 4 A schematic diagram of a capsule endoscope control system provided by an embodiment of the present invention for inspecting an endoscope in a subject's body cavity.

[0032] The reference numerals in the drawings of the specification include:

[0033] 101 - controller, 102 - operational amplifier, 103 - power supply, 104 - variable resistor, 105 - substrate, 106 - external magnet, 107 - subject, 108 - robotic arm. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] For reference Figure 1 , Figure 1 A flow chart of a capsule endoscope control method provided in this embodiment is shown in the figure. The capsule endoscope control method includes the following steps:

[0036] S11: When the external magnet moves and drives the endoscope to move, detecting the pressure exerted on the outer end surface of the external magnet;

[0037] S12: If the pressure exceeds a preset range, controlling the external magnet to perform a preset action.

[0038] The endoscope is provided with a magnet, namely, an internal magnet. Based on the magnetic interaction between the external magnet and the internal magnet, the external magnet is moved, and the internal magnet can be driven to move through the external magnet, thereby driving the endoscope to move, for example, the endoscope can be driven to translate, rotate or roll. The endoscope is a capsule endoscope, which can enter the body cavity of the subject to examine the subject's body cavity.

[0039] The external magnet is outside the body of the subject. When the endoscope enters the body cavity of the subject, the external magnet is moved, and the endoscope can be driven to move in the body cavity of the subject through the external magnet.

[0040] When the external magnet moves and drives the endoscope to move, the pressure on the outer end face of the external magnet is detected. When the external magnet contacts the body of the subject, the outer end face of the external magnet will be subjected to pressure. The capsule endoscope control method of this embodiment detects the pressure on the outer end face of the external magnet, and controls the external magnet to perform a preset action when the pressure exceeds a preset range. The external magnet performs a preset action such that the external magnet does not continue to move toward the subject's body, thereby preventing the external magnet from continuing to move and colliding with the subject, thereby reducing the situation where the external magnet collides with the subject and causes harm to the subject's body, and avoids the need for the operator to stay focused to prevent the external magnet from colliding with the subject, thereby reducing the operator's labor intensity.

[0041] In this embodiment, the method for detecting the pressure on the outer end face of the external magnet is not limited. In some embodiments, a sensor is provided on the outer end face of the external magnet, and the sensor is used to detect the pressure on the outer end face of the external magnet. When the external magnet moves and touches an object or the movement of the external magnet squeezes the object, the sensor can detect the pressure on the external magnet. In this embodiment, the structure of the sensor is not limited, as long as it can detect the pressure on the outer end face of the external magnet.

[0042] In some embodiments, the sensor may include a variable resistor and an output end, wherein the resistance value of the variable resistor changes with the pressure applied to the variable resistor, and the output voltage of the output end reflects the change in the resistance value of the variable resistor. The pressure applied to the variable resistor reflects the pressure applied to the location of the sensor on the outer end surface of the external magnet. The sensor of this embodiment has a simple structure, and the pressure applied is converted into an electrical signal through a variable resistor to detect the pressure applied, so that the detection accuracy meets certain requirements.

[0043] In some embodiments, the output terminal may be connected to a controller, and the controller determines whether the pressure on the external magnet exceeds a preset range based on the output voltage of the output terminal. The detected pressure exceeding the preset range may include: the output voltage of the output terminal exceeds the preset voltage range. In some embodiments, the controller may perform analog-to-digital conversion on the output voltage of the output terminal, convert the analog signal into a digital signal, and further judge based on the collected voltage signal. The controller may include an analog to digital converter (ADC). The controller may adopt, but is not limited to, a micro control unit (MCU).

[0044] In some embodiments, the sensor may further include a reference resistor, the variable resistor and the reference resistor are connected in series, the output terminal is led out from the connection between the variable resistor and the reference resistor, and the output voltage of the output terminal reflects the change in the resistance value of the variable resistor. In some embodiments, the sensor may further include a power supply, one end of the variable resistor is connected to the power supply, the other end is connected to one end of the reference resistor, the other end of the reference resistor is grounded, and the power supply is used to supply power to the variable resistor and the reference resistor.

[0045] In some embodiments, the sensor may further include an operational amplifier, wherein the connection between the variable resistor and the reference resistor is connected to a first input terminal of the operational amplifier, and a second input terminal of the operational amplifier is connected to an output terminal of the operational amplifier. An output voltage at the output terminal of the operational amplifier may reflect a change in the resistance value of the variable resistor. The operational amplifier is used to achieve a signal buffering function. For example, Figure 2 , Figure 2 A circuit diagram of a sensor of a capsule endoscope control method provided by an embodiment is shown in the figure. One end of the variable resistor R1 is connected to the positive electrode of the power supply 103, the negative electrode of the power supply 103 is grounded, the other end of the variable resistor R1 is connected to one end of the reference resistor R2, and the other end of the reference resistor R2 is grounded. The first input end in1 of the operational amplifier 102 is connected to one end where the variable resistor R1 and the reference resistor R2 are connected, and the second input end in2 of the operational amplifier 102 is connected to the output end out of the operational amplifier 102. The output end out of the operational amplifier 102 is connected to the controller 101. Figure 2 The V indicated in the figure represents the voltage of the power supply 103, and V1 represents the voltage at the connection point between the variable resistor R1 and the reference resistor R2. V1 is expressed as: V1=V×R 2 / (R 1 +R 2 ) Among them, R 1 Represents the resistance value of the variable resistor R1, R 2 The operational amplifier 102 has a signal buffering function, and the output of the operational amplifier 102 can drive an analog-to-digital converter (ADC) of the controller.

[0046] In one specific example, the power supply 103 supplies 12V, that is, V=12V. The resistance value R of R2 is 2 50kOhm is acceptable. When there is no external pressure, the resistance value of R1 is R 1 Above 10M Ohm, it is close to being open circuit. However, when subjected to external pressure, the resistance value of R1 is R 1 When there is no external pressure, the value of V1 is close to 0, but when there is pressure, R 1As the value decreases, the value of V1 increases. For example, it can be set that when V1>3V, it can be considered that the pressure detected by the sensor exceeds the preset range.

[0047] In some embodiments, a plurality of sensors are disposed on the outer end surface of the external magnet, and the variable resistors of the plurality of sensors are disposed on the substrate in an array form. Figure 3 , Figure 3 A schematic diagram of a method for controlling a capsule endoscope provided in an embodiment of the present invention is provided with a sensor on the outer end face of an external magnet. As shown in the figure, a plurality of variable resistors 104 are provided on a substrate 105, and any variable resistor 104 forms a sensor. Each variable resistor 104 is independent of each other, and each sensor detects pressure separately. The substrate 105 and the plurality of variable resistors 104 can form a thin film pressure sensor, which is provided on the outer end face of the external magnet. The substrate 105 can be a flexible material, and can be bent according to the design requirements, so it can be mounted on the outer shell of the external magnet 106.

[0048] In some embodiments, the outer end surface of the external magnet 106 includes the bottom surface and the side surface of the external magnet 106 , and detecting the pressure exerted on the outer end surface of the external magnet 106 includes: detecting the pressure exerted on the bottom surface of the external magnet 106 and detecting the pressure exerted on the side surface of the external magnet 106 . When the external magnet 106 moves and drives the endoscope to move, the bottom surface of the external magnet 106 may touch the subject's body or the side surface of the external magnet 106 may touch the subject's body. When the bottom surface of the external magnet 106 touches the subject's body, the bottom surface of the external magnet 106 will be subjected to pressure. If the side surface of the external magnet 106 touches the subject's body, the side surface of the external magnet 106 will be subjected to pressure. In view of this, in this embodiment, the pressure on the bottom surface of the external magnet 106 and the pressure on the side surface of the external magnet 106 are detected to prevent the external magnet 106 from continuing to move and colliding with the subject 107, thereby reducing the situation where the external magnet 106 collides with the subject 107 and causes damage to the subject's body. In this embodiment, a sensor can be set on the bottom surface of the external magnet 106 and a sensor can be set on the side surface of the external magnet 106. The sensor is used to detect the pressure.

[0049] In this embodiment, the preset range is not limited, and in practical applications, it can be set according to the detection principle and detection accuracy of the sensor and the pressure exerted when the external magnet 106 slightly contacts the body of the subject 107 .

[0050] In some embodiments, a plurality of sensors are provided on the outer end surface of the external magnet 106, and the sensors are used to detect the pressure on the outer end surface of the external magnet 106; if the pressure exceeds a preset range, the external magnet 106 is controlled to perform a preset action, including: if the pressure detected by at least one of the sensors exceeds the preset range, the external magnet 106 is controlled to perform the preset action. By providing a plurality of sensors on the outer end surface of the external magnet 106 and controlling the external magnet according to the detection results of the plurality of sensors, it is possible to avoid the situation where the sensor fails to accurately detect the pressure on the outer end surface of the external magnet 106 when only one sensor is provided, resulting in missed detection or wrong detection. The provision of a plurality of sensors can improve the detection accuracy, thereby effectively preventing the external magnet from colliding with the subject.

[0051] In some embodiments, if the detected pressure exceeds the preset range, a low level is generated, otherwise a high level is generated. In some embodiments, if the pressure exceeds the preset range, controlling the external magnet 106 to perform a preset action includes: output SC = S1 &&…&& Sn, if the output SC is a low level, controlling the external magnet 106 to perform a preset action, wherein n sensors are arranged on the outer end surface of the external magnet 106, S1,…, Sn represent the level generated by the pressure detected by the first sensor,… and the level generated by the pressure detected by the nth sensor, respectively, n is a positive integer greater than 1, for any of the sensors, a low level is generated when the pressure detected by the sensor exceeds the preset range, otherwise a high level is generated. Output SC = S1 &&…&& Sn, then, if at least one of the levels corresponding to the n sensors generates a low level, the output SC is a low level; if the n sensors all generate a high level, the output SC is a high level.

[0052] In some embodiments, controlling the external magnet 106 to perform a preset action includes: controlling the external magnet 106 to stop moving. If it is detected that the pressure on the outer end surface of the external magnet 106 exceeds a preset range, the external magnet 106 is controlled to stop moving to prevent the external magnet 106 from continuing to move and colliding with the subject 107.

[0053] In some embodiments, controlling the external magnet 106 to perform a preset action includes: controlling the external magnet 106 to move in a direction opposite to the original movement direction, wherein the original movement direction is the movement direction of the external magnet 106 when it is detected that the pressure on the outer end face of the external magnet 106 exceeds the preset range. During the movement of the external magnet 106 and the movement of the endoscope, if it is detected that the pressure on the outer end face of the external magnet 106 exceeds the preset range, the external magnet 106 can be controlled to move in a direction opposite to the original movement direction to prevent the external magnet 106 from continuing to move and continuing to collide with the subject 107, thereby reducing the situation where the external magnet 106 collides with the subject and causes harm to the subject's body. In other embodiments, the external magnet 106 can also be controlled to perform other actions to prevent the external magnet 106 from colliding with the subject 107.

[0054] This embodiment also provides a capsule endoscope control system, including:

[0055] A sensor, disposed on the outer end surface of the external magnet 106, for detecting the pressure on the outer end surface of the external magnet 106 when the external magnet 106 moves and drives the endoscope to move;

[0056] The control device is connected to the sensor for controlling the external magnet 106 to perform a preset action if the pressure exceeds a preset range.

[0057] The endoscope is provided with a magnet, namely, an internal magnet. Based on the magnetic interaction between the external magnet 106 and the internal magnet, the external magnet 106 is moved, and the internal magnet can be driven to move through the external magnet 106, thereby driving the endoscope to move, for example, the endoscope can be driven to translate, rotate or roll. The endoscope is a capsule endoscope, which can enter the body cavity of the subject 107 to examine the body cavity of the subject 107.

[0058] The external magnet 106 is outside the body of the subject 107 . When the endoscope enters the body cavity of the subject 107 , the external magnet 106 is moved, and the endoscope can be driven to move in the body cavity of the subject 107 by the external magnet 106 .

[0059] When the external magnet 106 moves and drives the endoscope to move, the pressure on the outer end face of the external magnet 106 is detected. When the external magnet 106 contacts the body of the subject 107, the outer end face of the external magnet 106 is subjected to pressure. The capsule endoscope control system of this embodiment detects the pressure on the outer end face of the external magnet 106, and controls the external magnet 106 to perform a preset action when the pressure exceeds a preset range. The external magnet 106 performs a preset action, which can prevent the external magnet 106 from continuing to move toward the body of the subject 107, thereby preventing the external magnet 106 from continuing to move and colliding with the subject 107, thereby reducing the situation where the external magnet collides with the subject and causes harm to the subject's body, and avoiding the need for the operator to stay focused to prevent the external magnet from colliding with the subject, thereby reducing the operator's labor intensity.

[0060] In some embodiments, a plurality of sensors are provided on the outer end surface of the external magnet 106, and the sensors are used to detect the pressure on the outer end surface of the external magnet 106. The external magnet 106 is controlled according to the detection results of the plurality of sensors, so that it is possible to avoid the situation that when only one sensor is provided, the sensor fails to accurately detect the pressure on the outer end surface of the external magnet 106, resulting in missed detection or wrong detection. The provision of a plurality of sensors can improve the detection accuracy, thereby effectively preventing the external magnet 106 from colliding with the examinee 107. The plurality of sensors can be evenly arranged, so as to more evenly detect the pressure on the outer end surface of the external magnet 102.

[0061] In some embodiments, the control device may include a mechanical arm, at the end of which the external magnet 106 is disposed, and the external magnet 106 is driven to move by the mechanical arm. Figure 4 , Figure 4 A schematic diagram of a capsule endoscope control system provided in an embodiment for controlling an endoscope in a subject's body cavity for inspection. An external magnet 106 is disposed at the end of a mechanical arm 108, disposed in a housing, and installed through the housing. The subject 107 is on a test table, and the external magnet 106 moves outside the body of the subject 107, which can drive the endoscope in the body cavity of the subject 107 to move. The external magnet 106 is driven to move by the mechanical arm 108, and the endoscope is controlled to perform translation, rotation, tumbling and other movements in the body cavity of the subject 107 by relying on the magnetic effect between the external magnet 106 and the internal magnet of the endoscope, thereby achieving a controllable inspection of the subject 107, such as an inspection of the human stomach.

[0062] The capsule endoscope control method and system of this embodiment can stop the movement of the external magnet once it contacts the subject, thereby greatly reducing the labor intensity of the operator and avoiding the risk of the external magnet colliding with the subject due to human operation errors. Since the movement speed of the external magnet is very low (<10mm / s), stopping the movement after contact will not cause harm to the subject.

[0063] Compared with other anti-collision measures, the capsule endoscope control method and system of this embodiment allows the external magnet to contact the subject's body, so that the external magnet can be closer to the endoscope in the subject's body cavity, thereby reducing the requirements for the magnetic field of the external magnet.

[0064] The mutual magnetic force formula between two magnets is: F=km 1 m 2 / r 2 , where F represents the magnetic force between magnets, k represents the force constant between magnets, and m 1 and m 2 Represent the magnetic moments of the two magnets, and r represents the distance between the two magnets. From the formula, we can see that the magnetic force is inversely proportional to the square of the distance. The closer the two magnets are, the greater the magnetic force. In the application scenario of capsule endoscopy, the smaller the external magnet, the lighter the mechanical cantilever can be designed, so that the motor can also choose a smaller power, which greatly saves material costs.

[0065] In this embodiment, a sensor for detecting pressure is arranged on the surface of the external magnet. When the sensor touches the body of the subject, the external magnet is controlled to stop moving, so that the external magnet can be closer to the magnet of the capsule endoscope in the body cavity. Under the condition that a sufficiently large magnetic force can be generated to control the capsule endoscope, the external magnet can reduce the volume and weight. For example, the distance between the external magnet and the capsule endoscope can be reduced by 10mm, and its weight can be reduced from 30kg to 20kg. The corresponding other mechanical suspension structures can reduce the weight by about 10kg. Since the load is reduced, the torque of the drive motor can be reduced. Overall, the material cost can be greatly reduced.

[0066] The capsule endoscope control method and system of the present embodiment can detect in real time whether the external magnet touches the subject. When the external magnet contacts the subject, the external magnet can be automatically controlled to stop moving, which can reduce the weight of the external magnet and greatly reduce the product cost. At the same time, it reduces the burden on the operator, avoids collision injuries caused by misoperation, and makes automatic operation of the external magnet possible.

[0067] The capsule endoscope control method and system provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A capsule endoscope control method, characterized in that: include: When the external magnet moves and drives the endoscope to move, detecting the pressure exerted on the outer end surface of the external magnet; If the pressure exceeds a preset range, the external magnet is controlled to perform a preset action.

2. The capsule endoscope control method according to claim 1, characterized in that: The outer end surface of the external magnet includes the bottom surface and the side surface of the external magnet; Detecting the pressure exerted on the outer end surface of the external magnet includes: detecting the pressure exerted on the bottom surface of the external magnet and detecting the pressure exerted on the side surface of the external magnet.

3. The capsule endoscope control method according to claim 1, characterized in that: A sensor is provided on the outer end surface of the external magnet, the sensor is used to detect the pressure exerted on the outer end surface of the external magnet, the sensor comprises a variable resistor and an output end, the resistance value of the variable resistor changes with the pressure exerted on the variable resistor, and the output voltage of the output end reflects the change in the resistance value of the variable resistor; The pressure exceeding a preset range includes: an output voltage of the output end exceeding a preset voltage range.

4. The capsule endoscope control method according to claim 3, characterized in that: The sensor further comprises a reference resistor, the variable resistor and the reference resistor are connected in series, and the output end is led out from the connection between the variable resistor and the reference resistor.

5. The capsule endoscope control method according to claim 3, characterized in that: A plurality of the sensors are arranged on the outer end surface of the external magnet, and the variable resistors of the plurality of the sensors are arranged on a substrate in an array form.

6. The capsule endoscope control method according to claim 1, characterized in that: A plurality of sensors are arranged on the outer end surface of the external magnet, and the sensors are used to detect the pressure exerted on the outer end surface of the external magnet; If the pressure exceeds a preset range, controlling the external magnet to perform a preset action includes: If the pressure detected by at least one of the sensors exceeds the preset range, the external magnet is controlled to perform the preset action.

7. The capsule endoscope control method according to claim 6, characterized in that: If the pressure exceeds a preset range, controlling the external magnet to perform a preset action includes: Output SC= S1 &&…&& Sn. If the output SC is a low level, the external magnet is controlled to perform a preset action, wherein n sensors are arranged on the outer end surface of the external magnet, S1,…,Sn respectively represent the level generated by the pressure detected by the first sensor,… and the level generated by the pressure detected by the nth sensor, n is a positive integer greater than 1, and for any sensor, a low level is generated when the pressure detected by the sensor exceeds the preset range, otherwise a high level is generated.

8. The capsule endoscope control method according to any one of claims 1 to 7, characterized in that: Controlling the external magnet to perform a preset action includes: The external magnet is controlled to stop moving, or is controlled to move in a direction opposite to an original moving direction, wherein the original moving direction is the moving direction of the external magnet when it is detected that the pressure exerted on the outer end surface of the external magnet exceeds the preset range.

9. A capsule endoscope control system, characterized in that: include: A sensor is arranged on the outer end surface of the external magnet, and is used to detect the pressure on the outer end surface of the external magnet when the external magnet moves and drives the endoscope to move; A control device is connected to the sensor for controlling the external magnet to perform a preset action if the pressure exceeds a preset range.

10. The capsule endoscope control system according to claim 9, characterized in that: The control device comprises a mechanical arm, at the end of which the external magnet is arranged, and the external magnet is driven to move by the mechanical arm.

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