Magnetic control capsule robot control platform based on spherical permanent magnet driving unit and positioning method

Abstract

The invention discloses a magnetic control capsule robot control platform based on a spherical permanent magnet driving unit and a positioning method.The magnetic control capsule robot control platform comprises a capsule robot, a magnetic driving array instrument, a single-axis moving sliding rail and a man-machine interaction platform, and the magnetic driving array instrument is installed on the single-axis moving sliding rail; the single-axis moving sliding rail is fixed to the ground, the capsule robot is located in the center of the interior of the magnetic drive array instrument, the man-machine interaction platform is arranged on one side of the magnetic drive array instrument, and the magnetic drive array instrument is in signal transmission connection with the man-machine interaction platform. The control precision and the positioning efficiency of gastrointestinal tract examination are improved, the diagnosis and treatment time is shortened, the operation complexity is reduced, meanwhile, the comfort of a patient is enhanced, and the equipment maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to a control system and positioning method for a magnetically controlled capsule robot, specifically a control platform and positioning method for a magnetically controlled capsule robot based on a spherical permanent magnet driving unit, belonging to the technical field of capsule robot control. Background Technique

[0002] As a revolutionary tool for non-invasive gastrointestinal diagnosis and treatment, magnetically controlled capsule robots have been gradually applied in the fields of gastric examination and small intestine imaging. However, the complex topological structure of the gastrointestinal tract environment (such as three-dimensional gastric folds, pyloric slits, etc.) poses strict requirements on the robot's degree of freedom of movement and dynamic response ability.

[0003] In the prior art, 1) an endoscopic capsule robot with an asymmetric force sensing function disclosed in CN108742481A. The capsule robot is equipped with a force sensing module, and the sensors in the force sensing module are asymmetrically distributed on the capsule-shaped head shell to obtain the contact force under the condition of asymmetric contact between the capsule robot and the gastrointestinal wall; among them, the pressure sensors are asymmetrically distributed inside or outside the capsule-shaped head shell. Under the drive of a single external magnetic field or asymmetrically distributed multi-magnetic fields, the interaction contact force between the gastrointestinal inner wall and the capsule-shaped head can be detected, and the magnitude of this contact force cannot exceed the set safety threshold, so as to realize the motion control and contact state monitoring of the capsule robot; except for the capsule-shaped head, the access tube entering the human body is a flexible tube, which will not cause pain, and is controlled to move by an external magnetic field, and can realize painless and omni-directional control and observation; 2) a precise motion controller for a magnetically controlled capsule robot based on IDMO-PID disclosed in CN116643485A, including a magnetically controlled capsule robot and an external magnetic source. The magnetically controlled capsule robot is placed in the human stomach, and the external magnetic source is arranged outside the human body; through the analysis of the motion mode and spatial magnetic field of the capsule robot, the motion control system of the capsule robot is optimized; based on the linearly decreasing inertia weight factor and Cauchy-Gaussian mutation strategy, the population position update stage and the optimal solution output stage of the dwarf mongoose optimization algorithm are optimized, effectively improving and reasonably balancing the global search ability and local search ability of the basic dwarf mongoose optimization algorithm in different stages, and improving the convergence progress and convergence speed of the algorithm; the motion control system parameters of the capsule robot are optimized by the improved dwarf mongoose optimization algorithm to realize the precise motion of the capsule robot under multi-source spatial magnetic fields.

[0004] However, in practical applications, there are still the following problems in the motion control technology and positioning of the capsule robot:

[0005] (1) When the existing magnetic control capsule robot is controlled by the magnetic field gradient force, a robotic arm equipped with a single external permanent magnet is mostly used to adjust the magnetic field direction and intensity. There are disadvantages such as a narrow motion control surface, inflexible changes in the spatial magnetic field force, and a blind area in the control range.

[0006] (2) For the complex conditions inside the gastrointestinal tract, magnetic control and magnetic positioning need to be carried out simultaneously to facilitate the operation and treatment of medical staff. At present, most sensor devices do not have the function of eliminating redundant magnetic field interference. When increasing the magnetic field force, it is easy to cause changes in magnetic field information, and there is a certain error between the magnetic field positioning information and the actual position of the capsule robot, making it difficult to achieve integrated control of control and positioning. Summary of the Invention

[0007] The purpose of the present invention is to provide a magnetic control capsule robot control platform and positioning method based on a spherical permanent magnet drive unit to solve at least one of the above technical problems. Four magnetic drive units are arranged in a circular array, and each magnetic drive unit can move freely in a fixed sliding cylinder, containing a spherical permanent magnet and a magnetic sensor array to achieve rapid spatial positioning and integrated control of the capsule robot in the human body.

[0008] The present invention realizes the above purpose through the following technical solutions: A magnetic control capsule robot control platform based on a spherical permanent magnet drive unit includes a capsule robot, a magnetic drive array instrument, a single-axis moving slide rail, and a human-computer interaction platform. The magnetic drive array instrument is installed on the single-axis moving slide rail, the single-axis moving slide rail is fixed to the ground, the capsule robot is located at the central position inside the magnetic drive array instrument, the human-computer interaction platform is arranged on one side of the magnetic drive array instrument, and the magnetic drive array instrument is in signal transmission connection with the human-computer interaction platform;

[0009] The magnetic drive array instrument includes a rotating platform and magnetic drive units, and the magnetic drive units rotate around the center on the rotating platform;

[0010] The magnetic drive unit is a spherical permanent magnet control and protection module, and the magnetic drive unit includes a spherical permanent magnet and a spherical permanent magnet restraint member, and the spherical permanent magnet is arranged inside the spherical permanent magnet restraint member.

[0011] As a further scheme of the present invention: The control platform further includes a hospital bed, and the hospital bed is placed along the central axis direction of the rotating platform.

[0012] As a further scheme of the present invention: Fixed sliding cylinders are arranged in a cross shape around the magnetic drive array instrument, and the magnetic drive units are movably sleeved inside the fixed sliding cylinders.

[0013] As a further solution of the present invention: The magnetic drive unit further includes a magnetic drive fixed frame and a thin sheet-shaped permanent magnet. The magnetic drive fixed frame is connected in a supporting shape to the bottom end of the spherical permanent magnet constraint member. The bottom end of the magnetic drive fixed frame is connected to a spring housing. The spring housing is movably arranged in a fixed sliding cylinder. The thin sheet-shaped permanent magnet is fixed to the end of the fixed sliding cylinder away from the capsule robot. A spring is movably arranged in the spring housing, and one end of the spring is connected to the top of the spring housing, and the other end of the spring is connected to the thin sheet-shaped permanent magnet. The magnetic drive fixed frame includes a magnetic coil and a protective housing. The magnetic coil is arranged in the protective housing. The two ends of the protective housing are respectively fixedly connected to the spherical permanent magnet constraint member and the spring housing.

[0014] As a further solution of the present invention: The spherical permanent magnet constraint member includes a constraint member and a protective member. The constraint member is a cuboid sliding cover member with a hollow spherical cavity, and the protective member is a cylindrical protective member with a hollow spherical cavity.

[0015] As a further solution of the present invention: The magnetic drive unit further includes a magnetic sensor array. The magnetic sensor arrays are evenly distributed on the upper part of the constraint member of each spherical permanent magnet constraint member. The installation position of the magnetic sensor array is at one end face close to the capsule robot to form a cooperation of four groups of magnetic sensor arrays. When obtaining magnetic information, the magnetic sensor arrays obtain symmetric information in a symmetric form, and the data is transmitted to the upper computer. The computer integrates the data and performs fitting processing, calculates the average magnetic field and performs positioning.

[0016] As a further solution of the present invention: The human-computer interaction platform includes a data processing unit; the data processing unit can calculate the required magnetic field information according to the position and attitude target of the capsule robot set by the human-computer interaction platform.

[0017] A positioning method for a magnetic control capsule robot control platform based on a spherical permanent magnet drive unit, including a control platform. The motion form realized by the magnetic drive unit in this positioning method is specifically as follows:

[0018] 1. When the spherical permanent magnet needs to be close to the capsule robot, reduce the current magnitude, reduce the force on the spring, and the spring elongates in the direction of restoring its original length, so as to realize the spherical permanent magnet approaching the capsule robot;

[0019] 2. When the spherical permanent magnet needs to be far away from the capsule robot, increase the current magnitude, increase the force on the spring, and the spring contracts in the compression direction, so as to realize the spherical permanent magnet moving away from the capsule robot;

[0020] 3. When the spherical permanent magnet needs to rotate, increase the current magnitude of the magnetic coil in one direction, so that the combined magnetic moment of the four coils generates a deflection angle, driving the spherical permanent magnet to rotate in the specified direction. A small change in the current will not cause a measurable change in the force on the spring.

[0021] As a further solution of the present invention: The magnetic sensor array accurately locates the three-dimensional six-degree-of-freedom coordinates of the capsule robot, including the following steps:

[0022] 1. Before placing the capsule robot, collect and preprocess the magnetic field signals collected by the magnetic sensor array in different postures;

[0023] 2. After placing the capsule robot, actively perform magnetic field compensation. The magnetic control system sends the control magnetic field position and direction parameters to the positioning system in real time. After calculation by the data processing unit, the magnetic field cancellation parameters are generated in reverse;

[0024] 3. Integrate the preprocessed magnetic field signals and the magnetic field cancellation parameters to generate magnetic field signals for positioning;

[0025] The main mathematical models used in the positioning process are as follows:

[0026] B ai = B oai + B pai + B qai

[0027] B bi = B obi + B pbi + B qbi

[0028] B ci = B oci + B pci + B qci

[0029] B Ai = B oai + B pai + B qai + B vx

[0030] B Bi = B obi + B pbi + B qbi + B vy

[0031] B Ci = B oci + B pci + B qci + B vz

[0032] In the formula, B ai 、B bi 、B ci are the components of the magnetic field measured by the i-th magnetic sensor in the x, y, and z axes during preprocessing; B Ai 、B Bi 、BCi The components of the magnetic field measured by the i-th magnetic sensor after placing the capsule robot on the x, y, and z axes respectively; B oai , B obi , B oci The components of the geomagnetic field on the x, y, and z axes respectively; B pai , B pbi , B pci The components of the magnetic field interfering with the electromagnetic coil on the x, y, and z axes respectively; B qai , B qbi , B qci The components of the magnetic field of the spherical permanent magnet on the x, y, and z axes respectively; B vx , B vy , B vz The components of the built-in magnet of the capsule robot on the x, y, and z axes respectively;

[0033] Define B xi = B Ai - B ai , B yi = B Bi - B bi , B zi = B Ci - B ci

[0034] The theoretical magnetic field of the capsule robot relative to the space of the rectangular coordinate system is as follows:

[0035]

[0036] In the formula, the central position of the magnet is (a, b, c), the magnetization direction is H0 = (m, n, p), and the position of the i-th sensor is (x i , y i , z i ), where i = 1, 2,..., N,

[0037] The position of the capsule robot is obtained by solving the magnetic dipole model:

[0038]

[0039] The beneficial effects of the present invention are:

[0040] 1) The present invention controls the movement or rotation of the permanent magnet along the sliding cylinder by adjusting the coil current, and combines the rotation of the rotating platform around the x-axis and the displacement of the single-axis sliding rail to realize the six-degree-of-freedom (translation, pitch, yaw, roll) movement of the capsule robot. The magnetic sensor array accurately locates the three-dimensional coordinates and attitude of the capsule in real time through active magnetic field compensation and signal fusion technology;

[0041] 2) The present invention improves the manipulation accuracy and positioning efficiency of gastrointestinal examinations, shortens the diagnosis and treatment time, reduces the operation complexity, enhances the patient comfort, and reduces the equipment maintenance cost;

[0042] 3) Four magnetic drive units are adopted in a circumferential array. Each magnetic drive unit can move freely within a fixed sliding cylinder and contains a spherical permanent magnet and a magnetic sensor array to achieve rapid spatial positioning and integrated control of the capsule robot in the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is the overall schematic diagram of the present invention;

[0044] Figure 2 is the schematic diagram of the magnetic drive array instrument of the present invention;

[0045] Figure 3 is the schematic diagram of the magnetic drive unit of the present invention;

[0046] Figure 4 is the side view structure schematic diagram of the magnetic drive unit of the present invention;

[0047] Figure 5 is the partial cross-sectional structure schematic diagram of the magnetic drive unit of the present invention;

[0048] Figure 6 is the transmission structure schematic diagram of the magnetic drive unit of the present invention;

[0049] Figure 7 is the flow chart of the magnetic drive unit controlling the capsule robot in the embodiment of the present invention;

[0050] Figure 8 is the flow chart of the magnetic sensor array positioning the capsule robot in the embodiment of the present invention.

[0051] In the figure: 101, hospital bed; 102, magnetic drive array instrument; 103, single-axis moving slide rail; 104, human-computer interaction platform; 105, fixed sliding cylinder; 201, rotating platform; 301, magnetic drive unit; 302, spherical permanent magnet; 303, spherical permanent magnet restraint member; 304, magnetic drive fixing frame; 305, thin plate-shaped permanent magnet; 306, magnetic sensor array; 401, restraint member; 402, protection member; 501, magnetic coil; 502, protection housing; 601, spring; 602, spring housing. DETAILED DESCRIPTION OF THE INVENTION

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] Embodiment 1 is as follows Figures 1 to 6 As shown, a magnetic control capsule robot control platform based on a spherical permanent magnet drive unit includes a capsule robot, a magnetic drive array instrument 102, a single-axis moving slide rail 103, and a human-computer interaction platform 104. The magnetic drive array instrument 102 is installed on the single-axis moving slide rail 103, the single-axis moving slide rail 103 is fixed to the ground, the capsule robot is located at the central position inside the magnetic drive array instrument 102, the human-computer interaction platform 104 is arranged on one side of the magnetic drive array instrument 102, and the magnetic drive array instrument 102 is in signal transmission connection with the human-computer interaction platform 104;

[0054] The magnetic drive array instrument 102 includes a rotating platform 201 and a magnetic drive unit 301. The magnetic drive unit 301 rotates around the center on the rotating platform 201. Through the combined action of the single-axis moving slide rail 103 and the rotating platform 201, two degrees of freedom of control are provided;

[0055] The magnetic drive unit 301 is a spherical permanent magnet control and protection module. The magnetic drive unit 301 includes a spherical permanent magnet 302 and a spherical permanent magnet restraint member 303. The spherical permanent magnet 302 is arranged inside the spherical permanent magnet restraint member 303.

[0056] Embodiment 2, in addition to including all the technical features in Embodiment 1, further includes:

[0057] The control platform further includes a hospital bed 101. The hospital bed 101 is arranged along the central axis direction of the rotating platform 201. When in use, the patient can lie flat on the hospital bed 101, and the capsule robot is placed in the patient's body. Assuming the direction of the hospital bed 101 is the x-axis, the magnetic drive array instrument 102 includes a rotating platform 201 that can rotate around the x-axis. The magnetic drive array instrument 102 is connected to the single-axis moving slide rail 103 on the ground and is controlled by the human-computer interaction platform 104, and can move flexibly in the x-axis direction, providing a degree of freedom in the overall direction for the permanent magnet array that controls the movement of the capsule robot.

[0058] Around the magnetic drive array instrument 102, fixed sliding cylinders 105 are arranged in a cross shape. The magnetic drive unit 301 is movably sleeved in the fixed sliding cylinder 105 so that the magnetic drive unit 301 is protected by the fixed sliding cylinder 105. The magnetic drive unit 301 can move freely within the sliding cylinder 105 but has a certain range of constraints. Moreover, the magnetic drive units 301 can be circumferentially arrayed on the axis of the magnetic drive array instrument 102 and can cooperate with the movement of the rotating platform 201 to change the distribution position. It should be noted that necessary lubricant is contained between the fixed sliding cylinder 105 and the magnetic drive unit 301 to facilitate the movement of the magnetic drive unit 301.

[0059] The magnetic drive unit 301 further includes a magnetic drive fixed frame 304 and a thin sheet-shaped permanent magnet 305. The magnetic drive fixed frame 304 is connected in a supporting shape to the bottom end of the spherical permanent magnet constraint member 303. A spring housing 602 is connected to the bottom end of the magnetic drive fixed frame 304. The spring housing 602 is movably arranged in the fixed sliding cylinder 105. The thin sheet-shaped permanent magnet 305 is fixed at the end of the fixed sliding cylinder 105 away from the capsule robot. A spring 601 is movably arranged in the spring housing 602, and one end of the spring 601 is connected to the top of the spring housing 602, and the other end of the spring 601 is connected to the thin sheet-shaped permanent magnet 305. The magnetic drive fixed frame 304 includes a magnetic coil 501 and a protective housing 502. The magnetic coil 501 is arranged in the protective housing 502. The two ends of the protective housing 502 are respectively fixedly connected to the spherical permanent magnet constraint member 303 and the spring housing 602, thus realizing a transmission structure with a thin sheet-shaped permanent magnet - spring - four-way electrified coil - spherical permanent magnet as the system. The length of the magnetic coil 501 is approximately between 250 - 300 mm. The included angle between each magnetic coil 501 and the Z axis of the spherical permanent magnet 302 is about 35°. The diameter of the spherical permanent magnet is 150 mm.

[0060] The spherical permanent magnet constraint member 303 includes a constraint member 401 and a protective member 402. The constraint member 401 is a rectangular parallelepiped sliding cover member with a hollow spherical cavity, and the protective member 402 is a cylindrical protective member with a hollow spherical cavity. Through the cooperative connection of the constraint member 401 and the protective member 402, the spherical permanent magnet 302 can be arranged in the hollow spherical cavity to form a constraint and limit for the spherical permanent magnet 302.

[0061] The magnetic drive unit 301 further includes a magnetic sensor array 306. The magnetic sensor array 306 is evenly distributed on the upper part of the constraint member 401 of each spherical permanent magnet constraint member 303. The installation position of the magnetic sensor array 306 is on one end face close to the capsule robot to form the cooperation of four groups of magnetic sensor arrays 306. When acquiring magnetic information, the magnetic sensor array 306 acquires symmetric information in a symmetric form, and the data is transmitted to the host computer. The computer integrates the data and performs fitting processing, calculates the average magnetic field, and performs positioning.

[0062] The human-computer interaction platform 104 includes a data processing unit; the data processing unit can calculate the required magnetic field information according to the position and attitude target of the capsule robot set by the human-computer interaction platform.

[0063] Embodiment 3, as Figures 1 to 8 shown, a positioning method for a magnetic control capsule robot control platform based on a spherical permanent magnet drive unit includes a control platform. The motion forms realized by the magnetic drive unit 301 are specifically as follows:

[0064] 1. Magnetic field gradient adjustment (translation control)

[0065] (1) Set the target magnetic field gradient through the human-computer interaction platform 104, and the data processing unit calculates the distances between the required spherical permanent magnets 302 and the capsule robot;

[0066] (2) Adjust the coil current to drive the permanent magnet to move along the sliding cylinder;

[0067] (3) The magnetic sensor real-time feedbacks the position of the permanent magnet.

[0068] 2. Permanent magnet rotation control (direction adjustment)

[0069] (1) Set the target inclination angle of the capsule robot through the human-computer interaction platform, and calculate the current distribution ratio of each magnetic coil through the data processing unit;

[0070] (2) Increase the current of the magnetic coil 501 in the target direction to generate an asymmetric magnetic field;

[0071] (3) The spherical permanent magnet 302 rotates around the specified axis under the action of the asymmetric magnetic field torque.

[0072] 3. Global pose adjustment

[0073] (1) The single-axis moving slide rail 103 moves the magnetic drive unit group to the target x-axis position;

[0074] (2) The rotating platform 201 rotates around the x-axis to adjust the magnetic field action direction;

[0075] (3) The four magnetic drive units 301 cooperate to generate a synthetic magnetic field to drive the capsule to perform motions such as pitching, yawing and rolling.

[0076] The magnetic sensor array 306 accurately locates the three-dimensional six-degree-of-freedom coordinates of the capsule robot, including the following steps:

[0077] 1. Before placing the capsule robot, collect and preprocess the magnetic field signals collected by the magnetic sensor array 306 in different postures;

[0078] 2. After placing the capsule robot, actively perform magnetic field compensation. The magnetic control system sends the control magnetic field position and direction parameters to the positioning system in real time. After calculation by the data processing unit, generate the counteracting magnetic field parameters in reverse.

[0079] 3. Integrate the preprocessed magnetic field signal and the counteracting magnetic field parameters to generate a magnetic field signal for positioning.

[0080] The main mathematical models used in the positioning process are as follows:

[0081] B ai = B oai + B pai + B qai

[0082] B bi = B obi + B pbi + B qbi

[0083] B ci = B oci + B pci + B qci

[0084] B Ai = B oai + B pai + B qai + B vx

[0085] B Bi = B obi + B pbi + B qbi + B vy

[0086] B Ci = B oci + B pci + B qci + B vz

[0087] In the formula, B ai , B bi , B ci are the components of the magnetic field measured by the i-th magnetic sensor in the x, y, and z axes during preprocessing; B Ai , B Bi , B Ci are the components of the magnetic field measured by the i-th magnetic sensor in the x, y, and z axes after placing the capsule robot; B oai , B obi , B oci are the components of the geomagnetic field in the x, y, and z axes; B pai , B pbi , Bpci are the components of the interfering magnetic field of the electromagnetic coil in the x, y, and z axes respectively; B qai , B qbi , B qci are the components of the magnetic field of the spherical permanent magnet in the x, y, and z axes respectively; B vx , B vy , B vz are the components of the built-in magnet of the capsule robot in the x, y, and z axes respectively;

[0088] Define B xi = B Ai - B ai , B yi = B Bi - B bi , B zi = B Ci - B ci

[0089] The theoretical magnetic field of the capsule robot relative to the space of the rectangular coordinate system is as follows:

[0090]

[0091] Specifically, the center position of the magnet is (a, b, c), the magnetization direction is H0 = (m, n, p), and the position of the i-th sensor is (x i , y i , z i ), where i = 1, 2,..., N,

[0092] The position of the capsule robot is obtained by solving the magnetic dipole model:

[0093]

[0094] By adjusting the coil current, the permanent magnet is moved or rotated along the sliding cylinder, combined with the rotation of the rotating platform around the x-axis and the displacement of the single-axis slide rail, to realize the six-degree-of-freedom (translation, pitch, yaw, roll) movement of the capsule robot. The magnetic sensor array accurately locates the three-dimensional coordinates and attitude of the capsule in real time through active magnetic field compensation and signal fusion technology.

[0095] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0096] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetic control capsule robot control platform based on a spherical permanent magnet drive unit, comprising a capsule robot, a magnetic drive array instrument (102), a single-axis moving slide rail (103), and a human-computer interaction platform (104), characterized in that: The magnetic drive array instrument (102) is installed on a single-axis moving slide rail (103), and the single-axis moving slide rail (103) is fixed to the ground. The capsule robot is located at the central position inside the magnetic drive array instrument (102). The human-computer interaction platform (104) is arranged on one side of the magnetic drive array instrument (102), and the magnetic drive array instrument (102) is in signal transmission connection with the human-computer interaction platform (104). The magnetic drive array instrument (102) includes a rotating platform (201) and a magnetic drive unit (301), and the magnetic drive unit (301) rotates around the center on the rotating platform (201). The magnetic drive unit (301) is a spherical permanent magnet control and protection module. The magnetic drive unit (301) includes a spherical permanent magnet (302) and a spherical permanent magnet restraint member (303), and the spherical permanent magnet (302) is placed inside the spherical permanent magnet restraint member (303).

2. The magnetic control capsule robot control platform according to claim 1, characterized in that: It further includes a hospital bed (101), and the hospital bed (101) is arranged along the central axis direction of the rotating platform (201).

3. The magnetic control capsule robot control platform according to claim 1, characterized in that: Fixed sliding cylinders (105) are arranged in a cross shape around the magnetic drive array instrument (102), and the magnetic drive unit (301) is movably sleeved inside the fixed sliding cylinders (105).

4. The magnetic control capsule robot control platform according to claim 3, wherein: The magnetic drive unit (301) further includes a magnetic drive fixed frame (304) and a thin sheet-shaped permanent magnet (305). The magnetic drive fixed frame (304) is connected in a supporting shape to the bottom end of the spherical permanent magnet restraint member (303). A spring housing (602) is connected to the bottom end of the magnetic drive fixed frame (304). The spring housing (602) is movably placed inside the fixed sliding cylinder (105). The thin sheet-shaped permanent magnet (305) is fixed at the end of the fixed sliding cylinder (105) away from the capsule robot. A spring (601) is movably placed inside the spring housing (602), and one end of the spring (601) is connected to the top of the spring housing (602), and the other end of the spring (601) is connected to the thin sheet-shaped permanent magnet (305). The magnetic drive fixed frame (304) includes a magnetic coil (501) and a protective housing (502). The magnetic coil (501) is placed inside the protective housing (502), and both ends of the protective housing (502) are fixedly connected to the spherical permanent magnet restraint member (303) and the spring housing (602) respectively.

5. The magnetic control capsule robot control platform according to claim 1, characterized in that: The spherical permanent magnet restraint member (303) includes a restraint member (401) and a protective member (402). The restraint member (401) is a cuboid sliding cover member with a hollow spherical cavity, and the protective member (402) is a cylindrical protective member with a hollow spherical cavity.

6. The magnetically controlled capsule robot control platform according to claim 5, characterized in that: The magnetic drive unit (301) further includes a magnetic sensor array (306). The magnetic sensor arrays (306) are evenly distributed on the upper part of the restraint member (401) of each spherical permanent magnet restraint member (303). The installation position of the magnetic sensor arrays (306) is on the end face close to the capsule robot to form a cooperation of four groups of magnetic sensor arrays (306).

7. The magnetic control capsule robot control platform according to claim 1, characterized in that: The human-machine interaction platform (104) includes a data processing unit; the data processing unit calculates the required magnetic field information according to the position and attitude target of the capsule robot set by the human-machine interaction platform.

8. A positioning method for a magnetic control capsule robot control platform based on a spherical permanent magnet drive unit, including the magnetic control capsule robot control platform according to any one of claims 1 to 7; characterized in that: The specific motion forms realized by the positioning method through the magnetic drive unit (301) are as follows: (1) When the spherical permanent magnet (302) needs to approach the capsule robot, the magnitude of the current is reduced to reduce the force on the spring (601), and the spring (601) extends in the direction of restoring its original length, so as to realize the approach of the spherical permanent magnet (302) to the capsule robot; (2) When the spherical permanent magnet (302) needs to move away from the capsule robot, the magnitude of the current is increased to increase the force on the spring (601), and the spring (601) contracts in the direction of compression, so as to realize the movement of the spherical permanent magnet (302) away from the capsule robot; (3) When the spherical permanent magnet (302) needs to rotate, the magnitude of the current in one of the magnetic coils (501) is increased to make the combined magnetic moment of the four coils generate a deflection angle, driving the spherical permanent magnet (302) to rotate in the specified direction. The small change in the current will not cause a measurable change in the force on the spring (601).

9. The positioning method of the magnetic control capsule robot control platform according to claim 8, characterized in that: The magnetic sensor array (306) accurately locates the three-dimensional six-degree-of-freedom coordinates of the capsule robot, including the following steps: (1) Before placing the capsule robot, collect and preprocess the magnetic field signals collected by the magnetic sensor array (306) in different postures; (2) After placing the capsule robot, actively perform magnetic field compensation. The magnetic control system sends the control magnetic field position and direction parameters to the positioning system in real time, and after calculation by the data processing unit, generates the offset magnetic field parameters in reverse; (3) Integrate the preprocessed magnetic field signals and the offset magnetic field parameters to generate magnetic field signals for positioning; Among them, the mathematical model used in the positioning process is as follows: B ai = B oai + B pai + B qai B bi = B obi + B pbi + B qbi B ci = B oci + B pci + B qci B Ai = B oai + B pai + B qai + B vx B Bi = B obi + B pbi + B qbi + B vy B Ci = B oci + B pci + B qci + B vz Where B ai , B bi , B ci are the components of the magnetic field measured by the i-th magnetic sensor in the x, y, and z axes during preprocessing; B Ai , B Bi , B Ci are the components of the magnetic field measured by the i-th magnetic sensor in the x, y, and z axes after placing the capsule robot; B oai , B obi , B oci are the components of the geomagnetic field in the x, y, and z axes; B pai , B pbi , B pci are the components of the interfering magnetic field of the energized electromagnetic coil in the x, y, and z axes; B qai , B qbi , B qci are the components of the magnetic field of the spherical permanent magnet in the x, y, and z axes; B vx , B vy , B vz are the components of the internal magnet of the capsule robot in the x, y, and z axes; Definition B xi = B Ai - B ai 、B yi = B Bi - B bi 、B zi = B Ci - B ci The theoretical magnetic field of the capsule robot relative to the space in the rectangular coordinate system is as follows: Wherein, the central position of the magnet is (a, b, c), the magnetization direction is H0 = (m, n, p), and the position of the i-th sensor is (x i , y i , z i ), where i = 1, 2, …, N, The position of the capsule robot is obtained by solving the magnetic dipole model:

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