Control system of capsule endoscope

Abstract

The invention discloses a control system of a capsule endoscope, which is a control system for assisting the movement of the capsule endoscope with a first magnet, and comprises an examination bed for carrying a tissue cavity with the capsule endoscope and a magnetic control device for generating a variable magnetic field acting on the first magnet, the magnetic control device comprises a support surrounding the examining table and a magnetic component arranged on the support, and the support can move relative to the examining table in multiple directions. The magnetic component comprises a second magnet and an induction coil surrounding the second magnet, and the variable magnetic field comprises a first magnetic field generated by the induction coil and a second magnetic field generated by the second magnet; the variable magnetic field is generated by changing at least one of the distance of the magnetic component relative to the first magnet, the current magnitude of the induction coil and the current direction of the induction coil. Therefore, the capsule endoscope can be assisted to move, so that the capsule endoscope in the tissue cavity gets rid of a stuck state.

Description

Technical Field

[0001] The present disclosure generally relates to the field of medical device technology, and more particularly to a control system for a capsule endoscope. Background Art

[0002] With the continuous improvement of modern medical technology, lesions on the walls of the digestive tract, such as the stomach, large intestine, and small intestine, can be examined by swallowing a capsule endoscope. The capsule endoscope can help doctors obtain accurate information about the lesion area in the digestive tract, thereby assisting doctors in diagnosing and treating the subjects.

[0003] A capsule endoscope typically includes a magnet controlled by an external magnetic control device, a camera, and a wireless transmission device that transmits the captured images externally. By controlling the external magnetic control device, a doctor, nurse, or other operator can magnetically guide the capsule endoscope within the digestive tract to control its movement within the tract. The camera captures images of specific locations within the tract (e.g., lesions). These images are then transmitted to an external display device via a wireless transmission device, allowing the doctor to observe and diagnose the subject's digestive tract.

[0004] Typically, after completing an examination of the digestive tract, a capsule endoscope relies on gastrointestinal peristalsis to be expelled from the body. However, in some cases, due to the patient's digestive tract (e.g., numerous wrinkles and collapses in the gastrointestinal tract), the capsule endoscope may become stuck in these wrinkles and collapses and be unable to be expelled from the body, potentially causing intestinal obstruction. Summary of the Invention

[0005] The present disclosure is made in view of the above-mentioned situation, and an object of the present disclosure is to provide a control system for a capsule endoscope that can assist the movement of a capsule endoscope so as to free the capsule endoscope from a stuck state in a tissue cavity.

[0006] To this end, the present disclosure provides a control system for a capsule endoscope, which is a control system for assisting the movement of a capsule endoscope having a first magnet. The control system includes an examination bed for carrying a tissue cavity having the capsule endoscope and a magnetic control device for generating a variable magnetic field acting on the first magnet. The magnetic control device includes a bracket surrounding the examination bed and a magnetic component arranged on the bracket, and the bracket can move relative to the examination bed in multiple directions; the magnetic component includes a second magnet and an induction coil surrounding the second magnet, and the variable magnetic field includes a first magnetic field generated by the induction coil and a second magnetic field generated by the second magnet; wherein the variable magnetic field is generated by changing at least one of the distance of the magnetic component relative to the first magnet, the current magnitude of the induction coil, and the current direction of the induction coil.

[0007] In the present disclosure, a magnetic control device is used to generate a variable magnetic field for a capsule endoscope in a variety of ways, thereby improving the convenience and flexibility of obtaining a variable magnetic field. In particular, by changing the current magnitude or current direction of the induction coil to generate a variable magnetic field for the capsule endoscope, the response speed of generating the variable magnetic field can be improved. In addition, by allowing the bracket to move in multiple directions relative to the examination bed, the variable magnetic field can be caused to apply magnetic forces to the first magnet of the capsule endoscope in the tissue cavity from different directions in turn. The magnetic forces in different directions make the capsule endoscope tend to move in multiple different directions. Furthermore, by adjusting the magnitude of the magnetic force applied by the variable magnetic field to the first magnet of the capsule endoscope, it is possible to easily make the capsule endoscope break through the static state relative to the tissue cavity, thereby allowing the capsule endoscope in the tissue cavity to break free from the stuck state.

[0008] Additionally, in the control system of the present disclosure, the bracket may optionally be an annular bracket, wherein a plane of the annular bracket is orthogonal to the lengthwise direction of the examination bed. In this case, when the bracket moves along the lengthwise direction of the examination bed and rotates around the examination bed, the circumferential motion of the bracket rotating around the examination bed and the linear motion of the bracket along the lengthwise direction of the examination bed can be orthogonal to each other, thereby improving the accuracy of controlling the magnetic component to sequentially apply a variable magnetic field to the capsule endoscope from different directions.

[0009] Furthermore, in the control system of the present disclosure, the movement of the support relative to the examination bed optionally includes: the support being movable relative to the examination bed along the length of the examination bed and being rotatable relative to the examination bed about the central axis of the support. In this case, on the one hand, the variable magnetic field generated by the magnetic component can sequentially apply magnetic force to the first magnet from different positions along the circumference of the examination bed; on the other hand, the variable magnetic field can sequentially apply magnetic force to the first magnet from different positions along the axial direction of the examination bed. Thus, the variable magnetic field can apply magnetic force to the first magnet from all directions and angles, thereby increasing the possibility of the capsule endoscope escaping from a stuck state.

[0010] Additionally, in the control system of the present disclosure, optionally, the movement of the support relative to the examination bed includes: the support being movable relative to the examination bed along a preset direction orthogonal to the lengthwise direction of the examination bed. In this case, when a tissue cavity is located on the examination bed and a capsule endoscope is present within the tissue cavity, the magnetic component can be moved toward or away from the capsule endoscope along the preset direction orthogonal to the lengthwise direction of the examination bed, thereby facilitating adjustment of the magnetic force applied by the variable magnetic field to the first magnet.

[0011] In addition, in the control system involved in the present disclosure, optionally, the support can be moved relative to the examination bed, the number of the magnetic components is multiple, the multiple magnetic components are evenly arranged on the support in a manner around the central axis of the support, and each of the magnetic components sequentially generates the variable magnetic field toward the first magnet. In this case, when the tissue cavity is located on the examination bed and a capsule endoscope is present in the tissue cavity, by alternately activating the induction coils at different positions so that the corresponding magnetic components generate a variable magnetic field, the variable magnetic field can apply a magnetic force to the first magnet of the capsule endoscope, and by alternately activating the induction coils at different positions, the variable magnetic field can apply a magnetic force to the first magnet from different directions, thereby facilitating the capsule endoscope in the tissue cavity to escape from a stuck state.

[0012] Additionally, in the control system of the present disclosure, optionally, the induction coil has a hollow structure, an axis perpendicular to the central axis of the hollow structure is defined as a first axis, and the second magnet is positioned within the hollow structure and rotatable about the first axis by a preset angle. In this case, by rotating the second magnet within the hollow structure by the preset angle, the direction of the second magnetic field can be adjusted so that the directions of the first and second magnetic fields are the same or opposite, thereby facilitating adjustment of the magnetic field strength of the variable magnetic field.

[0013] In addition, the control system of the present disclosure may optionally further include a control mechanism configured to control the second magnet to rotate about the first axis by the preset angle in response to the current of the induction coil being no less than a preset value. In this case, the direction of the second magnetic field can be adjusted based on the current of the induction coil so that the directions of the first magnetic field and the second magnetic field are the same or opposite. When the directions of the first magnetic field and the second magnetic field are the same, the magnetic field strength of the variable magnetic field can be increased. Compared to increasing the magnetic field strength of the variable magnetic field by increasing the current of the induction coil, this can suppress Joule heating of the induction coil caused by excessive current in the induction coil, thereby reducing the performance requirements of the induction coil.

[0014] In addition, the control system of the present disclosure optionally further includes a fixed magnetic sensor device for locating the position of the capsule endoscope relative to the tissue cavity. When locating the position of the capsule endoscope relative to the tissue cavity, the magnetic component remains stationary relative to the magnetic sensor device, and the magnetic component and the magnetic sensor device are respectively located on both sides of the tissue cavity. In this case, the magnetic sensor device can accurately locate the position of the capsule endoscope in the tissue cavity, and based on the position of the capsule endoscope in the tissue cavity, the variable magnetic field can be accurately controlled to apply magnetic force to the capsule endoscope. In addition, based on the change in the position of the capsule endoscope in the tissue cavity, it can be confirmed whether the capsule endoscope has escaped from a stuck state.

[0015] In addition, in the control system involved in the present disclosure, optionally, the magnetic sensing device includes a magnetic sensor array and a processing unit, the magnetic sensor array is configured to respectively detect the magnetic field of the first magnet, the first magnetic field, and the second magnetic field, and the processing unit is configured to calculate the position of the magnetic sensing device relative to the capsule endoscope based on the magnetic field of the first magnet, the first magnetic field, the second magnetic field, and the magnetic dipole model of the capsule endoscope, so as to obtain the positioning position of the capsule endoscope relative to the tissue cavity. In this case, the positioning position of the capsule endoscope relative to the tissue cavity can be obtained by the magnetic sensing device, and the variable magnetic field can be accurately controlled to apply magnetic force to the capsule endoscope based on the position of the capsule endoscope in the tissue cavity; in addition, it can be confirmed whether the capsule endoscope has escaped from a stuck state based on the change in the position of the capsule endoscope in the tissue cavity.

[0016] In addition, the control system of the present disclosure may optionally further include a control device, wherein the control system is configured to control the movement of the support relative to the examination bed based on control instructions from the control device. Thus, the control device can improve the convenience of the user in controlling the relative movement of the support and the examination bed.

[0017] According to the present disclosure, a control system for a capsule endoscope can be provided, which can assist the movement of a capsule endoscope to free the capsule endoscope from being stuck in a tissue cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Hereinafter, the present disclosure will be described by way of examples with reference to the accompanying drawings, in which:

[0019] Figure 1 is a schematic diagram showing a control system involved in an example of the present disclosure.

[0020] Figure 2A Schematic diagram showing the appearance structure of the capsule endoscope involved in the example of the present disclosure.

[0021] Figure 2B Schematic diagram showing the internal structure of the capsule endoscope involved in the example of the present disclosure.

[0022] Figure 3 is a schematic diagram showing a tissue cavity involved in examples of the present disclosure.

[0023] Figure 4A Schematic diagram showing a magnetic component according to an example of the present disclosure.

[0024] Figure 4B FIG. 1 is a schematic diagram showing another embodiment of a magnetic component according to an example of the present disclosure.

[0025] Figure 5A Schematic diagram showing a magnetic control device and an examination bed involved in an example of the present disclosure.

[0026] Figure 5B FIG. 1 is a schematic diagram illustrating another embodiment of a magnetron device according to an example of the present disclosure.

[0027] Figure 6 Schematic diagram showing a magnetic sensor device and a magnetic component involved in an example of the present disclosure.

[0028] Figure 7 is a flowchart illustrating a control method according to an example of the present disclosure.

[0029] Description of reference numerals:

[0030] 1…control system, 2…capsule endoscope, 20…first magnet, 22…camera, 24…first wireless transceiver, 3…object, 30…tissue cavity, 12…magnetic control device, 121…support, 120…magnetic component, 122…induction coil, 124…second magnet, 13…examination bed, 14…control mechanism, 15…manipulation device, 16…second wireless transceiver, 17…processing device, 18…display device, 19…magnetic sensor, L1…first axis, L2…center axis. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0032] It should be noted that the terms "first", "second", "third" and "fourth" in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the following description, the same symbols are given to the same components, and repeated descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratios of the sizes of the components to each other or the shapes of the components may be different from the actual ones.

[0033] The present disclosure relates to a control system for a capsule endoscope, which can assist the movement of the capsule endoscope to free the capsule endoscope from a stuck state within a tissue cavity. Specifically, the control system of the capsule endoscope can generate an external magnetic field and sequentially apply magnetic forces from different directions to the capsule endoscope within the tissue cavity. Under the sequential action of the magnetic forces from multiple different directions, the capsule endoscope within the tissue cavity can be freed from a stuck state.

[0034] In some examples, a capsule endoscope may also be referred to as a medical device. In some examples, a capsule endoscope control system may also be referred to as a capsule endoscope guidance system, a medical device control system, or a medical device guidance system. Furthermore, a capsule endoscope control system may also be referred to as a control system.

[0035] Hereinafter, the control system involved in the present disclosure will be described in detail with reference to the accompanying drawings.

[0036] Figure 1 is a schematic diagram showing a control system 1 according to an example of the present disclosure. Figure 2A 2 is a schematic diagram showing the appearance and structure of a capsule endoscope 2 according to an example of the present disclosure. Figure 2B Schematic diagram showing the internal structure of the capsule endoscope 2 involved in the example of the present disclosure. Figure 3 Schematic diagram showing a tissue cavity 30 according to an example of the present disclosure.

[0037] For some examples, see Figure 1 The control system 1 may include an examination bed 13 and a magnetic control device 12. The examination bed 13 may be used to carry the subject 3, and the magnetic control device 12 may be used to generate a magnetic field. The magnetic control device 12 may act on the capsule endoscope 2 in the subject 3 through the magnetic field to drive the capsule endoscope 2 to move in the subject 3.

[0038] In some examples, the magnetron 12 can be used to generate a variable magnetic field. In some examples, the magnetic field of the variable magnetic field can be used to drive the capsule endoscope 2 in the tissue cavity 30 out of a stuck state.

[0039] In some examples, the capsule endoscope 2 may be a medical device shaped like a capsule and capable of being introduced into the body of the subject 3. Figure 2A The capsule endoscope 2 may include a capsule-shaped housing (i.e., a capsule-shaped housing), which may be composed of a cylindrical housing and two dome-shaped housings located at the longitudinal ends of the cylindrical housing. Furthermore, the longitudinal end openings of the cylindrical housing may be plugged by the dome-shaped housings, thereby maintaining the liquid-tight state of the capsule-shaped housing.

[0040] For some examples, see Figure 2A The dome-shaped housing can be a transparent optical dome that transmits light of a specified wavelength band (e.g., visible light). Alternatively, the cylindrical housing can be a substantially opaque housing. In some examples, the capsule-shaped housing can form a built-in space for arranging relevant detection devices.

[0041] For some examples, see Figure 2B The capsule endoscope 2 may include a first magnet 20. In this case, an external magnetic field can be used to apply a magnetic field to the first magnet 20 to control the position and posture of the capsule endoscope 2. In some examples, the first magnet 20 may be a permanent magnet and may be disposed approximately in the middle of the built-in space of the capsule endoscope 2 in the longitudinal direction.

[0042] For some examples, see Figure 2B The capsule endoscope 2 may include a camera 22. When the capsule endoscope 2 is located in the tissue cavity 30, the camera 22 may be used to photograph the interior of the tissue cavity 30 to capture image information of a specific location (e.g., a lesion area) in the tissue cavity 30. Furthermore, the external magnetic field may control the capsule endoscope 2 to move along a preset path in the tissue cavity 30 through the first magnet 20, so that the camera 22 can take a relatively comprehensive photograph of the inner wall of the tissue cavity 30, thereby performing a comprehensive inspection of the tissue cavity 30.

[0043] For some examples, see Figure 2B Along the longitudinal direction of the cylindrical shell, the capsule endoscope 2 may have an imaging device 22 on one side. In other examples, the capsule endoscope 2 may also have two imaging devices 22 on both sides, so that the capsule endoscope 2 can capture images on both sides simultaneously.

[0044] For some examples, see Figure 2BThe capsule endoscope 2 may include a first wireless transceiver 24. The first wireless transceiver 24 may transmit the image signal acquired by the camera 22 to the outside of the subject 3.

[0045] For some examples, see Figure 3 The tissue cavity 30 may be a digestive cavity of the subject 3, such as the stomach, esophagus, large intestine, colon, or small intestine. Furthermore, in some examples, the tissue cavity 30 may also be a non-digestive cavity, such as the abdominal cavity or thoracic cavity. For digestive cavities such as the stomach, esophagus, and large intestine, the capsule endoscope 2 can be introduced orally. For non-digestive cavities, the capsule endoscope 2 can be placed into the non-digestive cavity through minimally invasive incisions created during clinical surgery.

[0046] In some examples, the tissue cavity 30 may be a cavity of a phantom. Alternatively, a phantom may refer to a model that simulates human tissue or organs.

[0047] For some examples, see Figure 3 The tissue cavity 30 may be a digestive cavity phantom, such as a stomach phantom, an esophagus phantom, a large intestine phantom, a colon phantom, a small intestine phantom, etc. In some examples, the tissue cavity 30 may be a non-digestive cavity phantom, such as an abdominal cavity phantom, a thoracic cavity phantom, etc.

[0048] Additionally, in some examples, the tissue cavity 30 may also be any cavity with an accommodation space, such as a pipe, a container, and the like.

[0049] In some examples, the inner wall of the tissue cavity 30 may have multiple wrinkles, bends, and collapses. When wrinkles, bends, or collapses occur on the inner wall of the tissue cavity 30, the capsule endoscope 2 may become stuck in the wrinkles, bends, or collapses while moving within the tissue cavity 30, causing it to stop moving. In particular, if the capsule endoscope 2 becomes stuck in a wrinkle or collapse while moving within the tissue cavity 30 due to peristalsis, it may be impossible for the capsule endoscope 2 to be expelled from the body.

[0050] The control system 1 disclosed in the present invention can generate a variable magnetic field to the capsule endoscope 2 in the tissue cavity 30, and can enable the variable magnetic field to apply magnetic force to the first magnet 20 of the capsule endoscope 2 in the tissue cavity 30 from different directions in turn. The magnetic forces in multiple different directions make the capsule endoscope 2 tend to move in multiple directions, which makes it easy for the capsule endoscope 2 to break through the static state relative to the tissue cavity 30, thereby allowing the capsule endoscope 2 in the tissue cavity 30 to get rid of the stuck state.

[0051] It should be noted that in the present disclosure, the maximum magnetic force applied by the control system 1 to the first magnet 20 through the variable magnetic field can free the capsule endoscope 2 in the tissue cavity 30 from the stuck state, and the capsule endoscope 2 will not cause damage to the tissue cavity 30 when moving under the action of the maximum magnetic force.

[0052] In some examples, a variable magnetic field may refer to a magnetic field whose direction changes but whose strength remains constant. Alternatively, a variable magnetic field may refer to a magnetic field whose direction remains constant but whose strength changes. Alternatively, a variable magnetic field may refer to a magnetic field whose direction changes but whose strength changes.

[0053] Figure 4A is a schematic diagram showing a magnetic component 120 according to an example of the present disclosure. Figure 4B FIG. 1 is a schematic diagram showing another embodiment of the magnetic component 120 according to an example of the present disclosure.

[0054] In some examples, return to see Figure 1 The examination bed 13 can be used to carry the tissue cavity 30 with the capsule endoscope 2. Specifically, the examination bed 13 can be placed on a horizontal surface, and the subject 3 with the capsule endoscope 2 in the tissue cavity 30 can lie flat on the examination bed 13.

[0055] In some examples, the magnetron 12 can be used to generate a variable magnetic field acting on the first magnet 20. Figure 1 When a capsule endoscope 2 is present in the tissue cavity 30 of the subject 3 and the subject 3 is located on the examination bed 13, the magnetic control device 12 can generate a variable magnetic field for the capsule endoscope 2 in the tissue cavity 30, and the variable magnetic field can apply magnetic force to the first magnet 20 of the capsule endoscope 2.

[0056] In some examples, the magnetic force exerted by the variable magnetic field on the first magnet 20 may be positively correlated with the magnetic field strength of the variable magnetic field. In addition, the magnetic force exerted by the variable magnetic field on the first magnet 20 may include magnetic attraction and repulsion.

[0057] It is understandable that when the capsule endoscope 2 is stuck in the tissue cavity 30, the posture of the capsule endoscope 2 is random, that is, the posture of the first magnet 20 is random, and the magnetic force applied by the variable magnetic field to the first magnet 20 can be a magnetic attraction or a repulsion. Furthermore, when the capsule endoscope 2 is stuck in the tissue cavity 30, the magnetic force applied by the variable magnetic field to the first magnet 20 from different directions can also be a magnetic attraction or a repulsion. That is, as the orientation (i.e., direction and position) of the variable magnetic field relative to the first magnet 20 changes, the magnetic attraction can be converted into a repulsion, and the repulsion can also be converted into a magnetic attraction.

[0058] For some examples, see Figure 1 The magnetic control device 12 may include a bracket 121 and a magnetic component 120. The bracket 121 may be used to support the magnetic component 120. In addition, the magnetic component 120 may be used to generate a variable magnetic field acting on the capsule endoscope 2.

[0059] For some examples, see Figure 1 , the magnetic component 120 can be set on the bracket 121. In some examples, the magnetic component 120 can be fixedly set on the bracket 121. That is, the magnetic component 120 can be arranged on the bracket 121 in a manner that remains relatively stationary with the bracket 121. As a result, the movement of the bracket 121 can drive the magnetic component 120 to move.

[0060] For some examples, see Figure 4A The magnetic component 120 may include a second magnet 124 and an induction coil 122. The induction coil 122 may surround the second magnet 124. In some examples, the magnetic axis of the induction coil 122 may pass through the second magnet 124. In some examples, the magnetic axis of the induction coil 122 and the magnetic axis of the second magnet 124 may coincide.

[0061] In some examples, the induction coil 122 can generate a first magnetic field. In some examples, when a current is passed through the induction coil 122 , the induction coil 122 can generate a first magnetic field.

[0062] In some examples, the second magnet 124 can generate a second magnetic field. In some examples, the second magnet 124 can be a permanent magnet.

[0063] In some examples, the variable magnetic field may include a first magnetic field generated by induction coil 122 and a second magnetic field generated by second magnet 124 .

[0064] In some examples, the magnetic field directions of the first magnetic field and the second magnetic field may be the same. In this case, the first magnetic field and the second magnetic field can be superimposed in the same direction, thereby increasing the magnetic field strength of the variable magnetic field.

[0065] In addition, in some examples, the magnetic field directions of the first magnetic field and the second magnetic field may be opposite. In this case, the first magnetic field and the second magnetic field can be superimposed in opposite directions, thereby reducing the magnetic field strength of the variable magnetic field.

[0066] In some examples, a variable magnetic field can be generated by changing at least one of the distance between the magnetic component 120 and the first magnet 20, the current in the induction coil 122, and the direction of the current in the induction coil 122. In other words, the magnetic component 120 can generate a variable magnetic field by changing the distance between the magnetic component 120 and the first magnet 20, changing the current in the induction coil 122, or changing the direction of the current in the induction coil 122. In this case, using multiple methods to enable the magnetic control device 12 to generate a variable magnetic field for the capsule endoscope 2 can improve the convenience and flexibility of obtaining a variable magnetic field. In particular, generating a variable magnetic field for the capsule endoscope 2 by changing the current in the induction coil 122 or the direction of the current can improve the response speed of generating the variable magnetic field.

[0067] In some examples, a variable magnetic field can be generated by changing the distance between the magnetic component 120 and the first magnet 20. In this case, changing the distance between the magnetic component 120 and the first magnet 20 can facilitate adjusting the magnitude of the magnetic force exerted by the variable magnetic field on the first magnet 20.

[0068] In some examples, a variable magnetic field can be generated by changing the current of the induction coil 122. This can improve the response speed of adjusting the magnetic field strength of the variable magnetic field.

[0069] In some examples, a variable magnetic field can be generated by changing the direction of the current flowing through the induction coil 122. In this case, while the posture of the second magnet 124 remains unchanged, the direction of the first magnetic field can be changed by changing the direction of the current flowing through the induction coil 122. This allows the direction of the first magnetic field to be quickly switched so that the directions of the first magnetic field and the second magnetic field are the same or opposite, thereby improving the response speed of adjusting the magnetic field strength of the variable magnetic field.

[0070] For some examples, see Figure 4B , the induction coil 122 may have a hollow structure, and the second magnet 124 may be located in the hollow structure and rotatable in the hollow structure.

[0071] In some examples, an axis perpendicular to the central axis of the hollow structure is defined as the first axis L1. The second magnet 124 can be positioned within the hollow structure and rotatable about the first axis L1 by a predetermined angle. In this case, by rotating the second magnet 124 within the hollow structure by a predetermined angle, the direction of the second magnetic field can be adjusted so that the directions of the first and second magnetic fields are the same or opposite, thereby facilitating adjustment of the magnetic field strength of the variable magnetic field.

[0072] In some examples, the preset angle may be 45 degrees, 90 degrees, 180 degrees, 270 degrees, or 360 degrees, etc.

[0073] In some examples, return to see Figure 1 , the control system 1 may include a control mechanism 14. In some examples, the control mechanism 14 may be used to control the rotation of the second magnet 124. In some examples, the control mechanism 14 may control the second magnet 124 to rotate around the first axis L1 by a preset angle in response to the current of the induction coil 122 being not less than a preset value. In this case, the magnetic field direction of the second magnetic field can be adjusted based on the current of the induction coil 122 so that the magnetic field directions of the first magnetic field and the second magnetic field are the same or opposite. When the magnetic field directions of the first magnetic field and the second magnetic field are the same, the magnetic field strength of the variable magnetic field can be increased. Compared with increasing the magnetic field strength of the variable magnetic field by increasing the current of the induction coil 122, the Joule heating phenomenon of the induction coil 122 caused by excessive current in the induction coil 122 can be reduced, thereby reducing the performance requirements of the induction coil 122.

[0074] In some examples, when the magnetic fields of the first magnetic field and the second magnetic field are in opposite directions, after the current of the induction coil 122 reaches a preset value, in order to no longer increase the magnetic field strength of the variable magnetic field by increasing the current, the control mechanism 14 can control the second magnet 124 to rotate by a preset angle (e.g., 180 degrees) so that the first magnetic field and the second magnetic field overlap in the same direction, thereby increasing the magnetic field strength of the variable magnetic field. In this case, compared to increasing the magnetic field strength of the variable magnetic field by continuously increasing the current, increasing the magnetic field strength of the variable magnetic field by controlling the second magnet 124 to rotate by a preset angle so that the first magnetic field and the second magnetic field overlap in the same direction can reduce Joule heating of the induction coil 122 caused by excessive current in the induction coil 122, thereby reducing the adverse effects on the performance, service life, and stability of the induction coil 122.

[0075] In some examples, when applying a magnetic force to capsule endoscope 2 using a variable magnetic field, the strength of the variable magnetic field can be positively correlated with the distance between magnetic component 120 and capsule endoscope 2. Specifically, as the distance between magnetic component 120 and capsule endoscope 2 decreases, the strength of the variable magnetic field can decrease; and as the distance between magnetic component 120 and capsule endoscope 2 increases, the strength of the variable magnetic field can increase. For example, when magnetic component 120 approaches capsule endoscope 2 from a distance, the direction of the current in induction coil 122 can be changed so that the directions of the first and second magnetic fields are opposite, thereby reducing the strength of the variable magnetic field and thus the magnetic force exerted by the variable magnetic field on capsule endoscope 2. In this case, the magnetic forces exerted on capsule endoscope 2 from different directions by the variable magnetic field can be balanced, preventing the magnetic force exerted by the variable magnetic field on capsule endoscope 2 from being excessive, thereby preventing the capsule endoscope 2 from causing damage to the tissue cavity 30.

[0076] In some examples, the control mechanism 14 may control the second magnet 124 to rotate around the first axis L1 by a preset angle in response to a change in the current direction of the induction coil 122 so that the magnetic field directions of the first magnetic field and the second magnetic field remain in the same or opposite directions.

[0077] In some examples, when the magnetic field directions of the first magnetic field and the second magnetic field are the same, if it is necessary to maintain the magnetic field directions of the first magnetic field and the second magnetic field in the same direction, after the current direction of the induction coil 122 is changed, the control mechanism 14 can control the second magnet 124 to rotate a preset angle (e.g., 180 degrees) to keep the magnetic field directions of the first magnetic field and the second magnetic field in the same direction. Alternatively, when the magnetic field directions of the first magnetic field and the second magnetic field are opposite, if it is necessary to maintain the magnetic field directions of the first magnetic field and the second magnetic field in opposite directions, after the current direction of the induction coil 122 is changed, the control mechanism 14 can control the second magnet 124 to rotate a preset angle (e.g., 180 degrees) to keep the magnetic field directions of the first magnetic field and the second magnetic field in opposite directions.

[0078] Figure 5A 1 is a schematic diagram showing a magnetic control device 12 and an examination bed 13 according to an example of the present disclosure. Figure 5B FIG. 1 is a schematic diagram showing another embodiment of the magnetron device 12 according to the present disclosure.

[0079] For some examples, see Figure 5A or Figure 5B , the bracket 121 can surround the examination bed 13. That is, the examination bed 13 can be located in the space surrounded by the bracket 121.

[0080] For some examples, see Figure 5A or Figure 5B The bracket 121 may be an annular bracket, and the plane on which the annular bracket lies may be orthogonal to the lengthwise direction of the examination bed 13. In other words, the central axis L2 of the annular bracket may be parallel to the lengthwise direction of the examination bed 13. In this case, when the bracket 121 moves along the lengthwise direction of the examination bed 13 and rotates around the examination bed 13, the circumferential motion of the bracket 121 rotating around the examination bed 13 and the linear motion of the bracket 121 along the lengthwise direction of the examination bed 13 can form an orthogonal relationship, thereby improving the accuracy of controlling the magnetic component 120 to sequentially apply a variable magnetic field to the capsule endoscope 2 from different directions.

[0081] In some examples, the bracket 121 surrounding the examination bed 13 can move in multiple directions relative to the examination bed 13. In this case, the bracket 121 can drive the magnetic component 120 to move in multiple directions relative to the examination bed 13, so that the variable magnetic field can sequentially apply magnetic force to the capsule endoscope 2 in the tissue cavity 30 from different directions.

[0082] In some examples, the support 121 can be controlled to move relative to the examination bed 13 in multiple directions so that the magnetic component 120 moves relative to the examination bed 13 in a preset direction and along a preset path.

[0083] For some examples, see Figure 5A When the tissue cavity 30 is located on the examination bed 13 and the capsule endoscope 2 is located within the tissue cavity 30, the bracket 121 drives the magnetic component 120 to move in multiple directions relative to the capsule endoscope 2, thereby changing the distance between the magnetic component 120 and the first magnet 20. In this case, a variable magnetic field can be generated by changing the distance between the magnetic component 120 and the first magnet 20. Furthermore, the magnitude of the magnetic force exerted by the variable magnetic field on the first magnet 20 can be adjusted.

[0084] For some examples, see Figure 5A , the movement of the bracket 121 relative to the examination bed 13 may include: the bracket 121 can move relative to the examination bed 13 along the length direction of the examination bed 13, and can rotate relative to the examination bed 13 around the central axis L2 of the bracket 121. In other words, the magnetic component 120 can move relative to the examination bed 13 along the length direction of the examination bed 13, and the magnetic component 120 can rotate around the examination bed 13. In this case, on the one hand, it can facilitate the variable magnetic field generated by the magnetic component 120 to apply magnetic force to the first magnet 20 from different positions in the circumference of the examination bed 13 in sequence; on the other hand, it can also enable the variable magnetic field to apply magnetic force to the first magnet 20 from different positions in the axial direction of the examination bed 13 in sequence. As a result, the variable magnetic field can apply magnetic force to the first magnet 20 in all directions and at multiple angles, thereby increasing the possibility of the capsule endoscope 2 escaping from a stuck state.

[0085] In some examples, the support 121 rotates relative to the examination bed 13 about the central axis L2 of the support 121 and the support 121 moves relative to the examination bed 13 along the length direction of the examination bed 13 can be performed simultaneously.

[0086] In some examples, the movement of the support 121 relative to the examination bed 13 includes: the support 121 can move relative to the examination bed 13 along a preset direction orthogonal to the length direction of the examination bed 13. For example, the support 121 can move relative to the examination bed 13 along the width direction of the examination bed 13. For another example, the support 121 can move relative to the examination bed 13 along the height direction of the examination bed 13. In this case, when the tissue cavity 30 is located on the examination bed 13 and the capsule endoscope 2 is present in the tissue cavity 30, the magnetic component 120 can be moved closer to or away from the capsule endoscope 2 along the preset direction orthogonal to the length direction of the examination bed 13, thereby facilitating the adjustment of the magnitude of the magnetic force applied to the first magnet 20 by the variable magnetic field.

[0087] In some examples, the support 121 can move relative to the examination bed 13. That is, the support 121 can move relative to the examination bed 13 in three dimensions. For example, see Figure 5A The bracket 121 can move relative to the examination bed 13 along the length direction of the examination bed 13.

[0088] For some examples, see Figure 5B The number of magnetic components 120 can be multiple, and the multiple magnetic components 120 can be evenly arranged on the bracket 121 in a manner around the central axis L2 of the bracket 121, and each magnetic component 120 can sequentially generate a variable magnetic field toward the first magnet 20. In this way, it is convenient to make the variable magnetic field sequentially apply magnetic force to the capsule endoscope 2 from different directions along the circumference of the bracket 121.

[0089] In some examples, when the support 121 moves relative to the examination bed 13 along its length, multiple magnetic components 120 are evenly arranged on the support 121, and each magnetic component 120 can sequentially generate a variable magnetic field toward the first magnet 20. In this case, when the tissue cavity 30 is located on the examination bed 13 and the capsule endoscope 2 is located within the tissue cavity 30, the induction coils 122 at different positions are activated in turn to cause the corresponding magnetic components 120 to generate a variable magnetic field. The variable magnetic field can exert a magnetic force on the first magnet 20 of the capsule endoscope 2. Furthermore, by activating the induction coils 122 at different positions in turn, the variable magnetic field can sequentially exert magnetic forces on the first magnet 20 from different directions, thereby facilitating the capsule endoscope 2 within the tissue cavity 30 from being stuck.

[0090] In addition, each magnetic component 120 sequentially generates a variable magnetic field to the first magnet 20 , which may mean that current is passed through each induction coil 122 in turn to activate the induction coil 122 to generate the first magnetic field.

[0091] In some examples, the control mechanism 14 can be used to control the movement of the support 121 in multiple directions relative to the examination bed 13. In other examples, the control mechanism 14 can be used to control the movement of the examination bed 13 in multiple directions relative to the support 121.

[0092] In some examples, return to see Figure 1 The control system 1 may further include a manipulation device 15. The manipulation device 15 may be used to control the movement of the magnetic control device 12 relative to the examination bed 13 to apply the variable magnetic field generated by the magnetic control device 12 to the capsule endoscope 2 inside the tissue cavity 30. In this case, the capsule endoscope 2 inside the tissue cavity 30 can be positioned within the three-dimensional space of the variable magnetic field generated by the magnetic control device 12.

[0093] In some examples, the manipulation device 15 can be used to send control instructions to the control system 1 . The control system 1 can be configured to control the movement of the support 121 relative to the examination bed 13 based on the control instructions from the manipulation device 15 .

[0094] Specifically, the control device 15 can send control instructions to the control mechanism 14 of the control system 1. The control mechanism 14 can receive the control instructions from the control device 15 and, based on the control instructions, control the movement of the support 121 relative to the examination bed 13. Thus, the control device 15 can improve the convenience for the user to control the relative movement of the support 121 and the examination bed 13.

[0095] In some examples, when the position of the support 121 remains relatively unchanged, the control mechanism 14 may also control the examination bed 13 to move relative to the support 121 in three-dimensional space based on the control instructions of the manipulation device 15 .

[0096] In some examples, the control device 15 can implement its functions by using input devices such as a keyboard, a mouse, a joystick, etc. In addition, various information can be input into the control device 15 according to input operations of users such as doctors or nurses.

[0097] In some examples, return to see Figure 1 The control system 1 may further include a second wireless transceiver 16 , a processing device 17 and a display device 18 .

[0098] In some examples, the second wireless transceiver 16 may be configured to receive image signals acquired by the capsule endoscope 2. Specifically, the second wireless transceiver 16 may be configured to receive image signals sent by the first wireless transceiver 24 of the capsule endoscope 2, and the second wireless transceiver 16 may transmit the image signals to the processing device 17.

[0099] In some examples, the processing device 17 may be configured to process the image signal to obtain image information. In addition, the image information may include images, videos, and other information.

[0100] In some examples, the display device 18 can be configured to display the image information obtained by the processing device 17. That is, the display device 18 can intuitively display the image information to the user (e.g., medical staff). Furthermore, the user can judge the movement state of the capsule endoscope 2 in the tissue cavity 30 through the image information. In this case, based on the movement state of the capsule endoscope 2 in the tissue cavity 30, it is possible to control the variable magnetic field to apply magnetic force to the capsule endoscope 2 from different directions in turn, and it is possible to adjust the magnitude of the magnetic force applied by the variable magnetic field to the capsule endoscope 2.

[0101] In some examples, the user can confirm that the capsule endoscope 2 in the tissue cavity 30 has escaped from the stuck state based on the change in the image displayed by the display device 18 .

[0102] Figure 6 1 is a schematic diagram showing a magnetic sensor device 19 and a magnetic component 120 according to an example of the present disclosure.

[0103] For some examples, see Figure 6 The control system 1 may further include a magnetic sensor device 19, which may be used to locate the position of the capsule endoscope 2 relative to the tissue cavity 30. Thus, the position of the capsule endoscope 2 in the tissue cavity 30 can be located, thereby obtaining the position of the capsule endoscope 2 in the tissue cavity 30.

[0104] In some examples, after obtaining the position of the capsule endoscope 2 in the tissue cavity 30, the control device 15 can be used to control the support 121 to move relative to the examination bed 13 so that the magnetic component 120 is aligned with the capsule endoscope 2. In this way, the accuracy of the variable magnetic field exerting the magnetic force on the first magnet 20 can be improved.

[0105] In some examples, the magnetic sensing device 19 can be fixed. In other words, the magnetic sensing device 19 can be arranged in a manner to remain relatively stationary with respect to the ground.

[0106] For some examples, see Figure 6 When locating the position of the capsule endoscope 2 relative to the tissue cavity 30, the magnetic component 120 can remain stationary relative to the magnetic sensing device 19, and the magnetic component 120 and the magnetic sensing device 19 can be respectively located on either side of the tissue cavity 30. In other words, when the examination bed 13 is moved, the magnetic sensing device 19 can be located on the opposite side of the magnetic component 120, and the magnetic sensing device 19 can remain in a fixed position relative to the magnetic component 120. In this case, the magnetic sensing device 19 can accurately locate the position of the capsule endoscope 2 in the tissue cavity 30, and the variable magnetic field can be accurately controlled to apply a magnetic force to the capsule endoscope 2 based on the position of the capsule endoscope 2 in the tissue cavity 30. In addition, it is possible to confirm whether the capsule endoscope 2 has escaped from a stuck state based on the change in the position of the capsule endoscope 2 in the tissue cavity 30.

[0107] In some examples, during the process of controlling the movement of the support 121 relative to the examination bed 13, after the magnetic component 120 moves in a preset direction and along a preset path, the magnetic component 120 can be controlled to return to a position relative to the magnetic sensor device 19 and remain stationary. At this time, the position of the capsule endoscope 2 in the tissue cavity 30 can be located by the magnetic sensor device 19. In this case, based on the change in the position of the capsule endoscope 2 in the tissue cavity 30, it can be convenient to promptly confirm that the capsule endoscope 2 in the tissue cavity 30 has escaped from a stuck state.

[0108] In some examples, the magnetic sensing device 19 may include a magnetic sensor array and a processing unit. The magnetic sensor array may be used to detect magnetic field strength, and the processing unit may locate the position of the capsule endoscope 2 in the tissue cavity 30 based on the magnetic field strength.

[0109] In some examples, the magnetic sensor array may include a plurality of magnetic sensors. The magnetic sensor array may be configured to detect the magnetic field generated by the first magnet 20 of the capsule endoscope 2 and the variable magnetic field generated by the magnetic component 120. Specifically, the magnetic sensor array may be configured to detect the magnetic field of the first magnet 20 (also referred to as the third magnetic field), the first magnetic field, and the second magnetic field, respectively.

[0110] In some examples, the processing unit may be configured to calculate the position of the magnetic sensing device 19 relative to the capsule endoscope 2 based on the first magnetic field, the second magnetic field, the third magnetic field, and the magnetic dipole model of the capsule endoscope 2, so as to obtain the positioning position of the capsule endoscope 2 relative to the tissue cavity 30. In this case, the positioning position of the capsule endoscope 2 relative to the tissue cavity 30 can be obtained by the magnetic sensing device 19, and the variable magnetic field can be accurately controlled to apply a magnetic force to the capsule endoscope 2 based on the position of the capsule endoscope 2 within the tissue cavity 30. In addition, it is possible to confirm whether the capsule endoscope 2 has escaped a stuck state based on the change in the position of the capsule endoscope 2 within the tissue cavity 30.

[0111] Specifically, using the magnetic sensing device 19 to position the capsule endoscope 2 in the tissue cavity 30 may include: positioning the magnetic component 120 and the magnetic sensing device 19 on opposite sides of the tissue cavity 30 having the capsule endoscope 2; maintaining the relative position of the magnetic sensing device 19 and the magnetic component 120 unchanged; obtaining a first magnetic induction intensity (Xm, Ym, Zm) from the magnetic component 120 detected by the magnetic sensor array when the magnetic component 120 is located at a specified position; obtaining a second magnetic induction intensity (Xs, Ys, Zs) from the magnetic component 120 and the first magnet 20 detected by the magnetic sensor array when the tissue cavity 30 is located between the magnetic component 120 and the magnetic sensing device 19 and the magnetic component 120 is located at a specified position; and calculating a fourth magnetic induction intensity (Xs, Ys, Zs) generated by the first magnet 20 at the preset position based on the magnetic dipole model of the first magnet 20 and the preset position of the capsule endoscope 2. C0 , Y C0 , Z C0 ); according to the first magnetic induction intensity (Xm, Ym, Zm) and the second magnetic induction intensity (Xs, Ys, Zs), the third magnetic induction intensity (Xc, Yc, Zc) generated by the first magnet 20 is obtained = (Xs, Ys, Zs) - (Xm, Ym, Zm); and by combining the third magnetic induction intensity (Xc, Yc, Zc) with the fourth magnetic induction intensity (X C0 , Y C0 , Z C0 ) is compared to correct the preset position, so that the preset position within a predetermined error is determined as the position of the capsule endoscope 2.

[0112] In addition, the magnetic dipole model of the first magnet 20 may be:

[0113]

[0114] In formula (I), is the magnetic dipole model of the first magnet 20, r is the radius of the first magnet 20, μ0 is the vacuum permeability, The magnetic moment of the first magnet 20 can be measured in advance, and thus the fourth magnetic induction intensity (X C0 , Y C0 , Z C0 ).

[0115] Figure 7 is a flowchart illustrating a control method according to an example of the present disclosure.

[0116] The present disclosure also provides a method for controlling a capsule endoscope 2, wherein the control system 1 of the present disclosure applies a magnetic force to the capsule endoscope 2 within a tissue cavity 30 to free the capsule endoscope 2 from being stuck. The method for controlling a capsule endoscope 2 may be referred to as a control method or a guiding method.

[0117] In some examples, the control method may include: causing the magnetic control device 12 to generate a variable magnetic field on the capsule endoscope 2 (step S120); causing the variable magnetic field to apply magnetic force to the capsule endoscope 2 from multiple directions in sequence (step S140); and confirming that the capsule endoscope 2 has escaped from a stuck state based on changes in the image acquired by the capsule endoscope 2 (step S160).

[0118] In some examples, in step S120, when the tissue cavity 30 is located on the examination bed 13 and the capsule endoscope 2 is present in the tissue cavity 30, the control device 15 can apply a variable magnetic field generated by the magnetic control device 12 to the capsule endoscope 2 in the tissue cavity 30. For details, please refer to the description of the control device 15 above.

[0119] In some examples, in step S140, the support 121 can be controlled to move in multiple directions relative to the examination bed 13 to cause the magnetic component 120 to move in multiple directions relative to the capsule endoscope 2, so that the variable magnetic field applies magnetic force to the capsule endoscope 2 from multiple directions in turn.

[0120] In some examples, the support 121 can be controlled to move relative to the examination bed 13 in multiple directions to cause the magnetic component 120 to move relative to the examination bed 13 in a predetermined direction and along a predetermined path. For example, the support 121 can be controlled to move relative to the examination bed 13 along the length of the examination bed 13 and to rotate relative to the examination bed 13 about the central axis L2 of the support 121. For another example, when multiple magnetic components 120 are evenly distributed on the support 121, the support 121 can be controlled to move relative to the examination bed 13 along the length of the examination bed 13 and to activate the induction coils 122 at different positions in turn to cause the corresponding magnetic components 120 to generate variable magnetic fields. For details, please refer to the above description of the movement of the support 121 relative to the examination bed 13.

[0121] In some examples, when the magnetic component 120 approaches the capsule endoscope 2 from a distance, the direction of the current in the induction coil 122 can be changed so that the magnetic field directions of the first magnetic field and the second magnetic field are opposite to each other to reduce the magnetic field strength of the variable magnetic field, thereby reducing the magnetic force exerted by the variable magnetic field on the capsule endoscope 2.

[0122] In some examples, in step S160 , it can be confirmed that the capsule endoscope 2 in the tissue cavity 30 has escaped from the stuck state based on a change in the image displayed by the display device 18 .

[0123] In addition, the position of the capsule endoscope 2 in the tissue cavity 30 can also be located by the magnetic sensor device 19. Based on the change in the position of the capsule endoscope 2 in the tissue cavity 30, it can also be confirmed that the capsule endoscope 2 in the tissue cavity 30 has escaped from the stuck state.

[0124] According to the present disclosure, it is possible to provide a control system 1 for a capsule endoscope 2 that can assist the movement of the capsule endoscope 2 so as to free the capsule endoscope 2 from being stuck in a tissue cavity 30 .

[0125] Although the present disclosure has been described in detail above with reference to the accompanying drawings and examples, it will 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 spirit and scope of the present disclosure, and such modifications and variations all fall within the scope of the present disclosure.

Claims

1. A control system for a capsule endoscope, which is a control system for assisting the movement of a capsule endoscope having a first magnet, characterized in that: include: an examination bed for carrying a tissue cavity having the capsule endoscope and a magnetron device for generating a variable magnetic field acting on the first magnet, The magnetic control device includes a bracket surrounding the examination bed and a magnetic component provided on the bracket, and the bracket can move relative to the examination bed in multiple directions; The magnetic component includes a second magnet and an induction coil surrounding the second magnet, and the variable magnetic field includes a first magnetic field generated by the induction coil and a second magnetic field generated by the second magnet; The variable magnetic field is generated by changing at least one of the distance between the magnetic component and the first magnet, the current magnitude of the induction coil, and the current direction of the induction coil.

2. The control system for a capsule endoscope according to claim 1, characterized in that: The bracket is an annular bracket, and the plane where the annular bracket is located is orthogonal to the length direction of the examination bed.

3. The control system of the capsule endoscope according to claim 1, characterized in that: The movement of the support relative to the examination bed includes: the support can move relative to the examination bed along the length direction of the examination bed, and can rotate relative to the examination bed around the central axis of the support.

4. The control system for a capsule endoscope according to claim 1 or 3, characterized in that: The support moves relative to the examination bed, including: the support can move relative to the examination bed along a preset direction orthogonal to the length direction of the examination bed.

5. The control system for a capsule endoscope according to claim 1, characterized in that: The bracket is movable relative to the examination bed. There are multiple magnetic components, which are evenly arranged on the bracket around the central axis of the bracket, and each magnetic component generates the variable magnetic field to the first magnet in turn.

6. The control system for a capsule endoscope according to claim 1, characterized in that: The induction coil has a hollow structure, an axis perpendicular to the central axis of the hollow structure is a first axis, and the second magnet is located in the hollow structure and can rotate around the first axis by a preset angle.

7. The control system for a capsule endoscope according to claim 6, characterized in that: The invention further includes a control mechanism configured to control the second magnet to rotate around the first axis by the preset angle in response to the current of the induction coil being no less than a preset value.

8. The control system for a capsule endoscope according to claim 1, characterized in that: It also includes a magnetic sensing device that is fixedly arranged and used to locate the position of the capsule endoscope relative to the tissue cavity. When locating the position of the capsule endoscope relative to the tissue cavity, the magnetic component remains stationary relative to the magnetic sensing device and the magnetic component and the magnetic sensing device are respectively located on both sides of the tissue cavity.

9. The control system for a capsule endoscope according to claim 8, characterized in that: The magnetic sensing device includes a magnetic sensor array and a processing unit, the magnetic sensor array is configured to respectively detect the magnetic field of the first magnet, the first magnetic field and the second magnetic field, and the processing unit is configured to calculate the position of the magnetic sensing device relative to the capsule endoscope based on the magnetic field of the first magnet, the first magnetic field, the second magnetic field, and the magnetic dipole model of the capsule endoscope to obtain the positioning position of the capsule endoscope relative to the tissue cavity.

10. The control system for a capsule endoscope according to claim 1, characterized in that: A manipulation device is further included, and the control system is configured to control the movement of the support relative to the examination bed based on control instructions from the manipulation device.

Images