Motion control system and motion control method of capsule endoscope
By combining the magnetic fields of permanent magnets and electromagnets in the motion control system of the capsule endoscope, as well as the synergistic effect of the adjustment module and the analysis module, the problem of inaccurate motion control in the gastric cavity of the capsule endoscope is solved, and higher accuracy and stability of the motion control are achieved.
Patent Information
- Application Number
- CN202311686540.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-06
- Publication Date
- 2025-06-06
Smart Images
Figure CN120093200A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure generally relates to the field of biomedical engineering industry, and more particularly to a motion control system and motion control method for a capsule endoscope. Background Art
[0002] With the development of modern medical technology, when doctors need to obtain information about lesions on the walls of the digestive tract of patients, such as the stomach cavity, large intestine, and small intestine, they can let the patient swallow a capsule endoscope, so that the capsule endoscope moves with the intestinal muscles and moves along the digestive direction. In this process, doctors can control the capsule endoscope to take images to spy on the lesion area in the digestive tract, thereby obtaining accurate information about the lesion area, which is helpful for assisting doctors in diagnosing and treating patients. However, when the capsule endoscope enters the stomach cavity, this method of relying on intestinal muscles to move the capsule endoscope will not work.
[0003] In the prior art, an external magnetic device is used to apply an attractive force to the capsule endoscope, and the capsule endoscope can be moved to a target position following the magnetic device by moving the external magnetic device.
[0004] However, the magnetic field generated by the magnet device has the following characteristics: the closer to the magnet device, the denser the magnetic lines of force (that is, the closer to the magnet device, the greater the magnetic field strength). As the magnet device gradually approaches the capsule endoscope and enables the capsule endoscope to move under the attraction of the magnet device, the magnetic force on the capsule endoscope becomes stronger and stronger. Eventually, the capsule endoscope will accelerate toward the magnet device and be adsorbed on the upper surface of the gastric cavity, which is not conducive to the subsequent accurate control of the movement of the capsule endoscope. Summary of the invention
[0005] The present disclosure is proposed in view of the above-mentioned situation, and its object is to provide a motion control system and a motion control method for a capsule endoscope that can improve the accuracy of motion control.
[0006] To this end, the first aspect of the present disclosure provides a motion control system for a capsule endoscope, the motion control system comprising a magnetic attraction module, an adjustment module and an analysis module, the magnetic attraction module comprising a permanent magnet and an electromagnet, the permanent magnet generates a magnetic field with a fixed magnetic field strength, and the electromagnet generates a magnetic field with a variable magnetic field strength; the adjustment module comprises a first adjustment unit and a second adjustment unit, the first adjustment unit controls the magnetic attraction module to move from a first position to a second position along a preset path, the lowest point of the preset path is not lower than a preset height, and the second adjustment unit adjusts the magnetic field strength of the electromagnet; the analysis module is configured to set the adjustment mode of the adjustment module based on a feedback signal of the capsule endoscope.
[0007] In the present disclosure, the position of the magnetic module is changed by the first adjustment unit, so that the magnetic force of the magnetic module on the capsule endoscope can be changed as a whole (or the magnetic force can be increased or decreased by a larger amplitude), and the magnetic field strength through the electromagnet is changed by the second adjustment unit, so that the magnetic force of the magnetic module on the capsule endoscope can be changed locally (or the magnetic force can be increased or decreased by a smaller amplitude), and the analysis module sets the adjustment mode of the adjustment module based on the feedback signal of the capsule endoscope (that is, in the process of controlling the movement of the capsule endoscope, sets whether a larger amplitude or a smaller amplitude is needed to increase or decrease the magnetic force), thereby improving the accuracy of the motion control system over the motion of the capsule endoscope.
[0008] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, when the electromagnet is powered on, the magnetic axis of the magnetic field generated by the permanent magnet and the electromagnet coincides. Thus, it is possible to reduce the damage caused to the motion control system by the magnetic force generated between the permanent magnet and the electromagnet (for example, damaging the circuit of the motion control system and affecting the control accuracy of the motion control system, etc.).
[0009] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the capsule endoscope includes an acceleration sensor, and the feedback signal includes acceleration information of the capsule endoscope motion obtained by the acceleration sensor. In this case, it is convenient to obtain the force condition and motion state of the capsule endoscope through the acceleration information of the capsule endoscope, thereby facilitating further control of the capsule endoscope in the future.
[0010] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, in the process of the magnetic attraction module moving from the first position to the second position, the second adjustment unit repeatedly switches the current through the electromagnet on and off. In this case, repeatedly switching the current through the electromagnet, that is, repeatedly superimposing or canceling the magnetic field of the electromagnet, can significantly change the magnetic field size of the magnetic attraction module, and thus can cause a more significant change in the feedback signal of the capsule endoscope, thereby facilitating the subsequent multiple settings of the adjustment mode of the adjustment module to more accurately control the movement of the capsule endoscope.
[0011] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, in the process of the magnetic attraction module moving from the first position to the second position, the second adjustment unit changes the direction and magnitude of the current passing through the electromagnet. In this case, changing the direction of the current passing through the electromagnet by the second adjustment unit can make the magnetic field generated by the electromagnet enhance or weaken the magnetic field generated by the permanent magnet, and changing the magnitude of the current passing through the electromagnet by the second adjustment unit can adjust the magnitude of the magnetic field generated by the electromagnet to enhance or weaken the magnitude of the magnetic field generated by the permanent magnet, thereby increasing or decreasing the magnitude of the magnetic force of the magnetic attraction module on the capsule endoscope by a smaller magnitude.
[0012] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, in the process of the magnetic module moving from the first position to the second position, each time the second adjustment unit starts to energize the electromagnet, the first adjustment unit controls the magnetic module to remain at the current position for at least more than 0.5 seconds, and then the first adjustment unit controls the magnetic module to leave the current position and the second adjustment unit stops energizing the electromagnet. In this case, if the analysis module learns based on the feedback signal of the capsule endoscope (such as acceleration information) that the capsule endoscope has not started to move toward the magnetic attraction module, then at this time the magnetic force of the permanent magnet on the capsule endoscope is fixed, and energizing the electromagnet for more than 0.5 seconds and allowing the magnetic field of the electromagnet to be superimposed on the magnetic field of the permanent magnet can enhance the magnetic force of the magnetic attraction module on the capsule endoscope, and gradually increasing the current during the power-on time will cause the feedback signal of the capsule endoscope to change, thereby facilitating the control of the capsule endoscope to follow the movement through the magnetic attraction module; if the analysis module learns based on the feedback signal of the capsule endoscope that the capsule endoscope has started to move toward the magnetic attraction module, then at this time the magnetic force of the permanent magnet on the capsule endoscope is gradually increasing, and energizing the electromagnet for more than 0.5 seconds and allowing the magnetic field of the electromagnet to weaken the magnetic field of the permanent magnet can reduce the magnetic force of the magnetic attraction module on the capsule endoscope, thereby reducing the possibility of the capsule endoscope being adsorbed on the upper surface of the gastric cavity.
[0013] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, in the process of the magnetic module moving from the first position to the second position, the first adjustment unit controls the magnetic module to remain at the preset height, and the second adjustment unit continuously energizes the electromagnet, and the time for which the second adjustment unit continuously energizes the electromagnet is less than the preset time length, after which the first adjustment unit controls the magnetic module to leave the preset height. In this case, the second adjustment unit continuously energizes the electromagnet, which can help the analysis module to continuously obtain the motion state of the capsule endoscope based on the feedback signal of the capsule endoscope, so that the analysis module can timely set the adjustment mode of the adjustment module (for example, change the current direction or current magnitude passing through the electromagnet according to the acceleration information of the capsule endoscope), thereby improving the accuracy of controlling the motion of the capsule endoscope. In addition, it can also reduce the heat generated by the electromagnet or the capsule endoscope, which can help the motion control system or the capsule endoscope maintain good working performance.
[0014] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the analysis module introduces a compensation value when setting the adjustment mode of the adjustment module. In this case, the accuracy of the analysis module when setting the adjustment mode of the adjustment module can be improved by introducing the compensation value.
[0015] In addition, in the motion control system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, in the process of the magnetic module moving from the first position to the second position, when the magnetic module reaches the preset height, the second adjustment unit continues to energize the electromagnet, and at the same time, the first adjustment unit controls the magnetic module to leave the preset height, and when the magnetic module reaches the second position, the second adjustment unit stops energizing the electromagnet. In this case, since the magnetic field generated by the permanent magnet is relatively strong, the magnetic field generated by the electromagnet may not have a significant effect on the magnetic field generated by the permanent magnet. At this time, by actively making the permanent magnet gradually leave the preset height, the change in the magnetic force of the capsule endoscope by the magnetic module can be adjusted to a large extent, thereby enabling the motion control system to quickly adjust the motion state of the capsule endoscope.
[0016] The second aspect of the present disclosure provides a motion control method for a capsule endoscope, wherein the motion control method controls the capsule endoscope based on the motion control system described in the first aspect of the present disclosure, thereby improving the accuracy of motion control of the capsule endoscope.
[0017] According to the present disclosure, a motion control system and a motion control method of a capsule endoscope that improve motion control accuracy can be provided. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:
[0019] Figure 1 is a diagram showing an application scenario of the capsule endoscope involved in the example of the present disclosure.
[0020] Figure 2 is a block diagram showing a module of a motion control system involved in the example of the present disclosure.
[0021] Figure 3 It is a schematic diagram showing the structure of the magnetic attraction module involved in the example of the present disclosure.
[0022] Figure 4 is a flow chart showing how to determine a preset height according to an example of the present disclosure.
[0023] Figure 5 is a schematic diagram showing the preset height involved in the example of the present disclosure.
[0024] Figure 6 1 is a flowchart showing the process of converting the motion state of a capsule endoscope into data according to an example of the present disclosure.
[0025] Figure 7 It is a schematic diagram showing a first example of the magnetic attraction module involved in the example of the present disclosure moving from a first position to a second position along a preset path.
[0026] Figure 8 2 is a schematic diagram showing a second example of the magnetic attraction module involved in the example of the present disclosure moving from a first position to a second position along a preset path.
[0027] Fig. 9 is a schematic diagram showing a third example in which the magnetic attraction module involved in the example of the present disclosure moves from a first position to a second position along a preset path. DETAILED DESCRIPTION
[0028] Hereinafter, the preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components or the shapes of the components may be different from the actual ones.
[0029] It should be noted that the terms "including" and "having" and any variations thereof in the present disclosure, such as a process, method, system, product or device that includes or has a series of steps or units, are not necessarily limited to those steps or units clearly listed, but may include or have other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0030] In addition, the subheadings and the like involved in the following description of the present disclosure are not intended to limit the content or scope of the present disclosure, but are merely used as a reminder for reading. Such subheadings should neither be understood as dividing the content of the article, nor should the content under the subheading be limited to the scope of the subheading.
[0031] The present disclosure provides a motion control system for a capsule endoscope, which is a system that can be used to control the movement of a capsule endoscope. The motion control system of a capsule endoscope can be called a motion control system for a capsule gastroscope or simply a motion control system. Specifically, the motion control system can control the movement of the capsule endoscope in the stomach cavity, or can control the movement of the capsule endoscope in the digestive tract. Through the motion control system involved in the present disclosure, the accuracy of the motion control of the capsule endoscope can be improved.
[0032] Figure 1 is a diagram showing an application scenario of the capsule endoscope 1 involved in the example of the present disclosure.
[0033] See also Figure 1 In some examples, the capsule endoscope 1 can be swallowed by the subject.
[0034] In some examples, the capsule endoscope 1 can move with the digestive tract muscles of the subject. In some examples, the capsule endoscope 1 can move in the digestive direction in the digestive tract of the subject. In some examples, the doctor can manipulate the capsule endoscope 1 to take images of the digestive tract of the subject. In some examples, the images taken by the capsule endoscope 1 can be sent to the outside via a wireless signal (or feedback signal). In this case, through the images taken by the capsule endoscope 1, the doctor can spy on the lesion area in the digestive tract, and can help the doctor obtain accurate information about the lesion area in the digestive tract of the subject, thereby helping to assist the doctor in diagnosing and treating the subject.
[0035] In some examples, the subject may refer to a person who undergoes examination by the capsule endoscope 1 .
[0036] See also Figure 1 In some examples, the capsule endoscope 1 can reach the stomach cavity of the subject through the digestive tract. In some examples, the capsule endoscope 1 can obtain image data in the stomach cavity. In this case, it can help doctors obtain accurate information about the lesion area in the stomach cavity of the subject, and the image data collected from the stomach cavity can help assist doctors in diagnosing and treating the subject.
[0037] In some examples, the movement of the capsule endoscope 1 in the gastric cavity can be controlled by the motion control system involved in the present disclosure.
[0038] Figure 2is a block diagram showing a module of a motion control system 10 according to an example of the present disclosure.
[0039] See also Figure 2 In some examples, the motion control system 10 may include a magnetic attraction module 110, and the magnetic attraction module 110 may control the motion of the capsule endoscope 1. In some examples, the magnetic attraction module 110 may apply a magnetic force to the capsule endoscope 1 and control the motion of the capsule endoscope 1 through the magnetic force.
[0040] Figure 3 Schematic diagram showing the structure of the magnetic attraction module 110 involved in the example of the present disclosure.
[0041] See also Figure 3 In some examples, the magnetic attraction module 110 may include a permanent magnet 1110 , and the permanent magnet 1110 may generate a magnetic field with a fixed magnetic field strength.
[0042] In the present disclosure, the magnetic field generated by the permanent magnet 1110 may have such a property that the magnetic field intensity of the magnetic field generated by the permanent magnet 1110 increases as the position is closer to the permanent magnet 1110 .
[0043] In some examples, the permanent magnet 1110 may be a bar magnet, a square magnet, a cylindrical magnet, a ring magnet, a disc magnet, or other permanent magnets.
[0044] See also Figure 3 In some examples, the magnetic attraction module 110 may further include an electromagnet 1120, which may generate a magnetic field with varying magnetic field strength.
[0045] In some examples, the electromagnet 1120 may be an energized coil. In this case, by changing the direction and magnitude of the current applied to the electromagnet 1120, the direction and magnitude of the magnetic field generated by the electromagnet 1120 can be changed.
[0046] In some examples, the magnetic field strength of the permanent magnet 1110 acting on the capsule endoscope 1 may be greater than the magnetic field strength of the electromagnet 1120 acting on the capsule endoscope 1 .
[0047] In some examples, the magnetic field strength of the magnetic field generated by the permanent magnet 1110 may be greater than the maximum magnetic field strength of the magnetic field generated by the electromagnet 1120. In this case, even if the direction of the magnetic field generated by the electromagnet 1120 is opposite to the direction of the magnetic field generated by the permanent magnet 1110, the direction of the resultant magnetic field after the magnetic fields generated by the electromagnet 1120 and the permanent magnet 1110 are superimposed can be made consistent with the direction of the magnetic field generated by the permanent magnet 1120.
[0048] In some examples, when the electromagnet 1120 is powered on, the magnetic axis of the magnetic field generated by the permanent magnet 1110 and the electromagnet 1120 may coincide. Thus, the damage caused to the motion control system 10 by the magnetic force generated between the permanent magnet 1110 and the electromagnet 1120 (e.g., damaging the circuit of the motion control system 10 and affecting the control accuracy of the motion control system 10, etc.) can be reduced. Preferably, the magnetic center of the magnetic field generated by the permanent magnet 1110 and the electromagnet 1120 may coincide.
[0049] In the present disclosure, the magnitude of the magnetic force exerted by the magnetic attraction module 110 on the capsule endoscope 1 can be changed.
[0050] See also Figure 2 In some examples, the motion control system 10 may further include an adjustment module 120. The adjustment module 120 may adjust the magnitude of the magnetic force exerted by the magnetic attraction module 110 on the capsule endoscope 1.
[0051] In some examples, the adjustment module 120 may include a first adjustment unit 1210 (see Figure 1 ), the first adjustment unit 1210 can control the magnetic module 110 to move. In this case, by controlling the magnetic module 110 to move, the magnetic force of the magnetic module 110 acting on the capsule endoscope 1 as a whole can be adjusted.
[0052] In some examples, the first adjustment portion 1210 may be a mechanical device that can move in three-dimensional space, and the first adjustment portion 1210 may be connected to the magnetic attraction module 110 (see Figure 1 ). Thus, the movement of the first adjustment part 1210 in three-dimensional space can drive the magnetic attraction module 110 to move. In some examples, the first adjustment part 1210 can rotate.
[0053] In some examples, the first adjustment unit 1210 can control the magnetic module 110 to move from the first position to the second position along a preset path.
[0054] In some examples, the preset path may be a path along which the magnetic module 110 gradually approaches the stomach cavity of the subject and gradually moves away from the stomach cavity of the subject when the magnetic module 110 moves from the first position to the second position.
[0055] In some examples, the adjustment module 120 may further include a second adjustment unit that may adjust the magnetic field strength of the electromagnet 1120 .
[0056] In some examples, when the magnetic module 110 moves from the first position to the second position, the second adjustment unit can adjust the magnetic field strength of the electromagnet 1120. In this case, by adjusting the magnetic field strength of the electromagnet 1120, the magnetic force of the magnetic module 110 acting on the capsule endoscope 1 as a whole can be further adjusted.
[0057] In some examples, during the process of the magnetic attraction module 110 moving from the first position to the second position, the second adjustment unit can change the direction and magnitude of the current passing through the electromagnet 1120. In this case, changing the direction of the current passing through the electromagnet 1120 by the second adjustment unit can make the magnetic field generated by the electromagnet 1120 enhance or weaken the magnetic field generated by the permanent magnet 1110, and changing the magnitude of the current passing through the electromagnet 1120 by the second adjustment unit can adjust the magnitude of the magnetic field generated by the electromagnet 1120 to enhance or weaken the magnitude of the magnetic field generated by the permanent magnet 1110, thereby increasing or decreasing the magnitude of the magnetic force of the magnetic attraction module 110 on the capsule endoscope 1 by a small amount.
[0058] See also Figure 2 In some examples, the motion control system 10 may further include an analysis module 130, which may be configured to set an adjustment mode of the adjustment module 120 based on a feedback signal of the capsule endoscope 1. In some examples, setting the adjustment mode of the adjustment module 120 may refer to setting at least one of the position change amplitude of the magnetic attraction module 110, the current direction passing through the electromagnet 1120, and the current magnitude passing through the electromagnet 1120.
[0059] In some examples, during the process of the magnetic attraction module 110 moving from the first position to the second position, the second adjustment unit can repeatedly switch on and off the current passing through the electromagnet 1120. In this case, repeatedly switching on and off the current passing through the electromagnet 1120, that is, repeatedly superimposing or canceling the magnetic field of the electromagnet 1120, can significantly change the magnetic field size of the magnetic attraction module 110, and thus can cause a relatively significant change in the feedback signal of the capsule endoscope 1, thereby facilitating the subsequent multiple settings of the adjustment mode of the adjustment module 120 to more accurately control the movement of the capsule endoscope 1.
[0060] In some examples, the lowest point of the preset path may not be lower than the preset height h. The preset height h may be the lowest height of the magnetic module 110 from the lying position of the human body (see Figure 1 ).
[0061] In some examples, the preset height h can be determined by an empirical value. Thus, it is convenient to set the preset height h. In some examples, the preset height h can be determined by experiments.
[0062] Figure 4 is a flow chart showing how to determine a preset height h according to an example of the present disclosure. Figure 5 is a schematic diagram showing the preset height h involved in the example of the present disclosure. Figure 5At the preset height h shown, the capsule endoscope 1 is in a force equilibrium state, that is, the combined force of buoyancy, gravity and magnetism is zero.
[0063] See also Figure 4 In some examples, the method for determining the preset height h may include: placing the capsule endoscope 1 in a liquid environment simulating gastric fluid (step S100); making the magnetic module 110 gradually approach the capsule endoscope 1 with the maximum magnetic field that can be achieved and observing the movement state of the capsule endoscope 1 (step S200); and when the capsule endoscope 1 is about to change from a static state to a moving state under the magnetic force of the magnetic module 110, recording the relative distance between the magnetic module 110 and the capsule endoscope 1 at this time as the preset height h (step S300).
[0064] In the present disclosure, the motion control system 10 can be used in conjunction with the capsule endoscope 1, that is, the preset height h can be predetermined by the manufacturer and used as one of the parameters of the entire system. Thus, it is convenient to improve the design of other parameters of the entire motion control system 10 (for example, limiting the range of motion of the first adjustment unit 1210) or to facilitate the operator to use the motion control system 10.
[0065] In some examples, the capsule endoscope 1 may be swallowed by a human body after the preset height h is determined.
[0066] In some examples, in step S200 , the maximum magnetic field that the magnetic attraction module 110 can reach may refer to the maximum magnetic field that can be reached after the magnetic fields of the permanent magnet 1110 and the electromagnet 1120 are superimposed.
[0067] In some examples, in step S200, the magnetic attraction module 110 may gradually move closer to the capsule endoscope 1 in a manner perpendicular to the upper part of the capsule endoscope 1. Thus, the accuracy of the preset height h can be improved.
[0068] In step S200, as the magnetic module 110 gradually approaches the capsule endoscope 1, the magnetic force applied to the capsule endoscope 1 becomes increasingly stronger. When the resultant force applied to the capsule endoscope 1 is greater than 0 (i.e., the resultant force of the magnetic force and the buoyancy applied to the capsule endoscope 1 is greater than the gravity of the capsule endoscope 1 itself), the capsule endoscope 1 will change from a static state to a moving state moving toward the magnetic module 110.
[0069] In some examples, in step S300, considering that the liquid environment of the simulated gastric fluid may not be completely consistent with the actual gastric fluid environment, for example, the buoyancy of the capsule endoscope 1 in the liquid environment of the simulated gastric fluid is less than the buoyancy of the capsule endoscope 1 in the actual gastric fluid environment. If the capsule endoscope 1 needs to be switched from a static state to a moving state at this time, a greater magnetic force is required, that is, the preset height h should be lower; or, the buoyancy of the capsule endoscope 1 in the liquid environment of the simulated gastric fluid is greater than the buoyancy of the capsule endoscope 1 in the actual gastric fluid environment. If the capsule endoscope 1 needs to be switched from a static state to a moving state at this time, a smaller magnetic force is required, that is, the preset height h should be higher. Therefore, appropriate corrections can be introduced when determining the preset height h, and the range of this correction can be determined based on the floating range of gastric fluid parameters in a normal human body.
[0070] It should be noted that, since the specific position of the capsule endoscope 1 in the human stomach cavity may not be known, when the magnetic module 110 moves from the first position to the second position along the preset path, the preset height h is preferably a certain and constant distance. Figure 1 In the embodiment, the preset height h can be based on the lying position of the human body (lying platform). Figure 1 and Figure 5 It is not difficult to deduce that before the magnetic module 110 reaches the preset height h, the combined force of the magnetic force and the buoyancy force on the capsule endoscope 1 will be greater than its own gravity. In order to better control the movement of the capsule endoscope 1, it is necessary to further understand the situation of the capsule endoscope 1 in the gastric cavity. To this end, the present disclosure provides a further solution.
[0071] In some examples, the capsule endoscope 1 may include an acceleration sensor, which may detect the acceleration of the capsule endoscope 1 .
[0072] In some examples, the feedback signal of the capsule endoscope 1 may include an acceleration sensor to obtain acceleration information of the movement of the capsule endoscope 1. In this case, it is convenient to obtain the force condition and movement state of the capsule endoscope 1 through the acceleration information of the capsule endoscope 1, thereby facilitating further control of the capsule endoscope 1 later.
[0073] Figure 6 1 is a flowchart showing the process of converting the motion state of the capsule endoscope 1 into data according to the example of the present disclosure.
[0074] See also Figure 6In some examples, digitizing the motion state of the capsule endoscope 1 may include: continuing to gradually move the magnetic module 110 closer to the capsule endoscope 1 (step S400); obtaining the acceleration of the capsule endoscope 1 and the relative distance between the magnetic module 110 and the capsule endoscope 1 at this time (step S500); and establishing the relationship between the acceleration of the capsule endoscope 1 and the relative distance between the magnetic module 110 and the capsule endoscope 1 (step S600).
[0075] In some examples, in step S400, continuing to gradually move the magnetic module 110 closer to the capsule endoscope 1 means that when the relative distance between the magnetic module 110 and the capsule endoscope 1 reaches a preset height h, continuing to gradually move the magnetic module 110 closer to the capsule endoscope 1 to increase the magnetic force of the magnetic module 110 on the capsule endoscope 1.
[0076] In some examples, in step S400, the resultant force acting on the capsule endoscope 1 may be greater than 0, the capsule endoscope 1 gradually moves toward the magnetic module 110, and the resultant force acting on the capsule endoscope 1 gradually increases during this process (that is, the acceleration of the capsule endoscope 1 gradually increases).
[0077] In some examples, the magnetic attraction module 110 may include a distance sensor. In some examples, the distance sensor may be a laser distance sensor or an infrared distance sensor.
[0078] In some examples, in step S500, the acceleration information of the capsule endoscope 1 can be obtained through the feedback signal of the capsule endoscope 1, and the relative distance between the magnetic module 110 and the capsule endoscope 1 at this time can be obtained through the ranging sensor.
[0079] In some examples, in step S600, establishing the relationship between the acceleration of the capsule endoscope 1 and the relative distance between the magnetic module 110 and the capsule endoscope 1 may refer to establishing a corresponding relationship between the acceleration of the capsule endoscope 1 and the relative distance between the current magnetic module 110 and the capsule endoscope 1. In some examples, this corresponding relationship may be stored as data of the motion control system 10 or written into a program of the motion control system 10. Thus, it is convenient for the subsequent motion control system 10 to analyze the motion state of the capsule endoscope 1 based on this corresponding relationship.
[0080] Hereinafter, a process of controlling the capsule endoscope 1 by the motion control system 10 involved in the present disclosure will be described by taking the case where the motion control system 10 controls the motion of the capsule endoscope 1 based on the acceleration information of the capsule endoscope 1 as an example.
[0081] Figure 7 1 is a schematic diagram showing a first example of the magnetic attraction module 110 involved in the example of the present disclosure moving from a first position to a second position along a preset path. Figure 8 2 is a schematic diagram showing a second example of the magnetic attraction module 110 involved in the example of the present disclosure moving from a first position to a second position along a preset path. Fig. 9 is a schematic diagram showing a third example of the magnetic attraction module 110 involved in the example of the present disclosure moving from the first position to the second position along a preset path. Figure 7 , Figure 8 or Fig. 9 The two horizontal solid lines in the figure represent the upper surface of the gastric cavity and the lower surface of the gastric cavity, respectively. Figure 7 , Figure 8 or Fig. 9 The distance between the two horizontal dotted lines in is used to represent the preset height h, and the horizontal dotted line located below represents the aforementioned lying position of the human body.
[0082] In some examples, during the process of the magnetic module 110 moving from the first position to the second position, the analysis module 130 may receive acceleration information of the capsule endoscope 1, the first adjustment unit 1210 may control the magnetic module 110 to gradually move toward the capsule endoscope 1, and the second adjustment unit may switch on and off the current through the electromagnet 1120 for multiple times. For example, the second adjustment unit may switch on and off the current through the electromagnet 1120 at nodes A, B, and C (see Figure 7 ), and when the electromagnet 1120 is powered on at nodes A, B, and C, the magnetic module 110 can remain at the current position, and when the electromagnet 1120 is powered off at nodes A, B, and C, the magnetic module 110 can leave the current position. It should be noted that the nodes A, B, and C here are arbitrarily selected, and the present disclosure is not limited to three nodes nor to Figure 7 The positions of the three nodes shown. Preferably, node B may be at a preset height h, node A may be between node B and the first position, and node C may be between node B and the second position.
[0083] In some examples, when the second adjustment unit starts to energize the electromagnet 1120 each time, the first adjustment unit 1210 can control the magnetic module 110 to remain at the current position for at least 0.5 seconds, after which the first adjustment unit 1210 can control the magnetic module 110 to leave the current position and the second adjustment unit can stop energizing the electromagnet 1120. Figure 7For example, when the magnetic module 110 reaches node A, the magnetic module 110 remains at node A and the second adjustment unit starts to energize the electromagnet 1120. The energization time is equal to the time the magnetic module 110 remains at node A and is greater than 0.5 seconds. In this case, if the analysis module 130 learns based on the feedback signal of the capsule endoscope 1 (such as acceleration information) that the capsule endoscope 1 has not started to move toward the magnetic module 110, then at this time the magnetic force of the permanent magnet 1110 on the capsule endoscope 1 is fixed. Energizing the electromagnet 1120 for more than 0.5 seconds and superimposing the magnetic field of the electromagnet 1120 with the magnetic field of the permanent magnet 1110 can enhance the magnetic force of the magnetic module 110 on the capsule endoscope 1. Gradually increasing the current during this energization time will cause the feedback signal of the capsule endoscope 1 to change, thereby being able to The capsule endoscope 1 is controlled to follow the movement through the magnetic attraction module 110; if the analysis module 130 learns, based on the feedback signal of the capsule endoscope 1, that the capsule endoscope 1 has started to move toward the magnetic attraction module 110, then at this time, the magnetic force of the permanent magnet 1110 on the capsule endoscope 1 is gradually increased, and the electromagnet 1120 is energized for more than 0.5 seconds to weaken the magnetic field of the electromagnet 1120. The magnetic field of the permanent magnet 1110 can reduce the magnetic force of the magnetic attraction module 110 on the capsule endoscope 1, thereby reducing the possibility of the capsule endoscope 1 being adsorbed on the upper surface of the gastric cavity.
[0084] In some examples, the magnetic module 110 may move closer to the capsule endoscope 1 after leaving its current position, or may move away from the capsule endoscope 1, depending on the change in the feedback signal of the capsule endoscope 1 after the electromagnet 1120 is energized and the magnetic field of the electromagnet 1120 is superimposed on or weakened with the magnetic field of the permanent magnet 1110.
[0085] In some examples, the time that the magnetic module 110 remains at the current position may also be less than 0.5 seconds, such as 0.2 seconds, 0.3 seconds, or 0.4 seconds.
[0086] In some examples, during the process of the magnetic module 110 moving from the first position to the second position, the first adjustment unit 1210 can control the magnetic module 110 to remain at a preset height h, and the second adjustment unit can continue to energize the electromagnet 1120 (see Figure 8 In this case, the second adjustment unit continuously energizes the electromagnet 1120, which can help the analysis module 130 to continuously obtain the motion state of the capsule endoscope 1 based on the feedback signal of the capsule endoscope 1, so that the analysis module 130 can timely set the adjustment mode of the adjustment module 120 (for example, change the direction or magnitude of the current passing through the electromagnet 1120 according to the acceleration information of the capsule endoscope 1), thereby improving the accuracy of controlling the motion of the capsule endoscope 1.
[0087] In the present disclosure, it is not difficult to understand that when the electromagnet 1120 is continuously energized, it may be necessary to change the direction or magnitude of the current passing through the electromagnet 1120 multiple times so that the capsule endoscope 1 does not move solely upward (toward the magnetic suction module 110) and be adsorbed on the upper surface of the gastric cavity or move downward and escape the control of the magnetic suction module 110. Therefore, the movement path of the capsule endoscope 1 in the gastric cavity can roughly be presented in the form of up and down fluctuations.
[0088] In some examples, the second adjustment unit may continue to energize the electromagnet 1120 for less than a preset time. In this case, the heating of the electromagnet 1120 or the capsule endoscope 1 can be reduced, which can help the motion control system 10 or the capsule endoscope 1 maintain good working performance.
[0089] In some examples, the preset time length may be 30 seconds. The present disclosure is not limited thereto, and in some examples, the preset time length may also be 5 seconds, 10 seconds, 20 seconds, or 60 seconds, etc. The preset time length may vary according to the actual conditions of the electromagnet 1120 or the capsule endoscope 1.
[0090] In some examples, when the second adjustment unit energizes the electromagnet 1120 , the first adjustment unit 1210 can control the magnetic attraction module 110 to leave the preset height h.
[0091] In some examples, after the second adjustment unit energizes the electromagnet 1120 , the first adjustment unit 1210 can control the magnetic attraction module 110 to leave the preset height h.
[0092] In some examples, when the magnetic module 110 moves from the first position to the second position, when the magnetic module 110 reaches the preset height h, the second adjustment part can continue to energize the electromagnet 1120, and the first adjustment part 1210 can control the magnetic module 110 to leave the preset height h, and when the magnetic module 110 reaches the second position, the second adjustment part can stop energizing the electromagnet 1120. Fig. 9 For example, when the magnetic module 110 reaches the node D, the second adjustment unit starts to energize the electromagnet 1120, and at the same time, the first adjustment unit 1210 controls the magnetic module 110 to gradually leave the preset height h. When the magnetic module 110 reaches the node E (near the second position), the second adjustment unit stops energizing the electromagnet 1120. In this case, since the magnetic field generated by the permanent magnet 1110 is relatively strong, the magnetic field generated by the electromagnet 1120 may not significantly affect the magnetic field generated by the permanent magnet 1110. At this time, by actively making the permanent magnet 1110 gradually leave the preset height h, the change in the magnetic force of the magnetic module 110 on the capsule endoscope 1 can be adjusted to a large extent, thereby facilitating the motion control system 10 to quickly adjust the motion state of the capsule endoscope 1.
[0093] In some examples, when the magnetic module 110 reaches the second position, the magnetic field generated by the magnetic module 110 can be weakened so that the capsule endoscope 1 descends to the lower surface of the gastric cavity.
[0094] In some examples, the analysis module 130 may introduce a compensation value when setting the adjustment mode of the adjustment module 120. Specifically, the compensation value may be introduced for the feedback signal of the capsule endoscope 1. Taking the feedback signal of the capsule endoscope 1 including the acceleration information of the capsule endoscope 1 as an example, when the capsule endoscope 1 has begun to move toward the magnetic suction module 110, if the analysis module 130 sets the adjustment mode of the adjustment module 120 based on the acceleration information of the capsule endoscope 1, since the capsule endoscope 1 is still in motion during this period, it takes a certain amount of time for the analysis module 130 to complete the processing of the acceleration information of the capsule endoscope 1 and set the adjustment mode of the adjustment module 120, that is, there is a certain hysteresis. In this case, the accuracy of the analysis module 130 in setting the adjustment mode of the adjustment module 120 can be improved by introducing the compensation value.
[0095] In some examples, introducing the compensation value may refer to causing the first adjustment unit 1210 to increase the position change amplitude of the magnetic attraction module 110. In some examples, introducing the compensation value may refer to causing the second adjustment unit to increase the current magnitude change amplitude through the electromagnet 1120. In some examples, introducing the compensation value may include causing the first adjustment unit 1210 to increase the position change amplitude of the magnetic attraction module 110 and causing the second adjustment unit to increase the current magnitude change amplitude through the electromagnet 1120.
[0096] In some examples, a compensation value may be introduced based on the aforementioned relationship between the acceleration of the capsule endoscope 1 and the relative distance between the magnetic module 110 and the capsule endoscope 1 .
[0097] In the present disclosure, the position of the magnetic attraction module 110 is changed by the first adjustment unit 1210, so that the magnetic force of the magnetic attraction module 110 on the capsule endoscope 1 can be changed as a whole (or the magnetic force can be increased or decreased by a larger amplitude), and the magnetic field strength through the electromagnet 1120 is changed by the second adjustment unit, so that the magnetic force of the magnetic attraction module 110 on the capsule endoscope 1 can be changed locally (or the magnetic force can be increased or decreased by a smaller amplitude), and the analysis module 130 sets the adjustment mode of the adjustment module 120 based on the feedback signal of the capsule endoscope 1 (that is, in the process of controlling the movement of the capsule endoscope 1, sets whether a larger amplitude or a smaller amplitude is needed to increase or decrease the magnetic force), thereby improving the accuracy of the motion control system 10 on the motion of the capsule endoscope 1.
[0098] The present disclosure also provides a motion control method for a capsule endoscope 1, which is a method that can be used to control the movement of the capsule endoscope 1. The motion control method for the capsule endoscope 1 can be called a motion control method for a capsule gastroscope or simply a motion control method. Specifically, the motion control method can control the movement of the capsule endoscope 1 in the gastric cavity based on the motion control system 10 involved in the present disclosure, or can control the movement of the capsule endoscope 1 in the digestive tract. Through the motion control method involved in the present disclosure, the accuracy of the motion control of the capsule endoscope 1 can be improved.
[0099] Although the present disclosure is specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the scope of the present disclosure.
Claims
1. A motion control system for a capsule endoscope, It is characterized in that The motion control system includes a magnetic attraction module, an adjustment module and an analysis module. The magnetic attraction module includes a permanent magnet and an electromagnet. The permanent magnet generates a magnetic field with a fixed magnetic field strength, and the electromagnet generates a magnetic field with a variable magnetic field strength. The adjustment module includes a first adjustment part and a second adjustment part. The first adjustment part controls the magnetic attraction module to move from a first position to a second position along a preset path, and the lowest point of the preset path is not lower than a preset height. The second adjustment part adjusts the magnetic field strength of the electromagnet. The analysis module is configured to set the adjustment mode of the adjustment module based on the feedback signal of the capsule endoscope.
2. The motion control system of the capsule endoscope according to claim 1, It is characterized in that When the electromagnet is energized, the permanent magnet coincides with the magnetic axis of the magnetic field generated by the electromagnet.
3. The motion control system of the capsule endoscope according to claim 1, It is characterized in that The capsule endoscope includes an acceleration sensor, and the feedback signal includes acceleration information of the capsule endoscope movement acquired by the acceleration sensor.
4. The motion control system of the capsule endoscope according to claim 1, It is characterized in that During the process of the magnetic attraction module moving from the first position to the second position, the second adjustment part switches the current passing through the electromagnet on and off multiple times.
5. The motion control system of the capsule endoscope according to claim 1, It is characterized in that When the magnetic attraction module moves from the first position to the second position, the second adjustment part changes the direction and magnitude of the current passing through the electromagnet.
6. The motion control system of the capsule endoscope according to claim 4, It is characterized in that In the process of the magnetic module moving from the first position to the second position, each time the second adjustment part starts to energize the electromagnet, the first adjustment part controls the magnetic module to remain at the current position for at least 0.5 seconds, after which the first adjustment part controls the magnetic module to leave the current position and the second adjustment part stops energizing the electromagnet.
7. The motion control system of the capsule endoscope according to claim 1, It is characterized in that During the process of the magnetic module moving from the first position to the second position, the first adjustment part controls the magnetic module to remain at the preset height, and the second adjustment part continues to energize the electromagnet. The time for which the second adjustment part continues to energize the electromagnet is less than a preset time length, after which the first adjustment part controls the magnetic module to leave the preset height.
8. The motion control system of the capsule endoscope according to claim 3, It is characterized in that The analysis module introduces a compensation value when setting the adjustment mode of the adjustment module.
9. The motion control system of the capsule endoscope according to claim 1, It is characterized in that In the process of the magnetic module moving from the first position to the second position, when the magnetic module reaches the preset height, the second adjustment part continues to energize the electromagnet, and at the same time, the first adjustment part controls the magnetic module to leave the preset height, and when the magnetic module reaches the second position, the second adjustment part stops energizing the electromagnet.
10. A motion control method for a capsule endoscope, It is characterized in that The motion control method controls the capsule endoscope based on the motion control system according to any one of claims 1 to 9.