Shielding device and magnetically controlled capsule endoscope system

Abstract

The present application discloses a shielding device and a magnetically controlled capsule endoscope system. The shielding device shields a ferromagnetic control main member supported by a holder, and includes a shielding cover and a lifting mechanism. The shielding cover is connected to the lifting mechanism. The lifting mechanism drives the shielding cover to slide in a direction approaching the control main member or away from the control main member. The shielding device further includes a position restricting structure. The position restricting structure is used to contact the control main member and / or the holder and restrict movement of the control main member supported by the holder. In the present application, the magnetic field of the control main member is effectively shielded by providing a shielding device.

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application having a filing date of January 27, 2022, application number 202210097916.8, and entitled "Shielding Device and Magnetically Controlled Capsule Endoscope System," and is hereby incorporated by reference in its entirety in the specification, claims, accompanying drawings, and abstract of the above-mentioned Chinese patent application.

[0002] The present application relates to the field of medical equipment technology, and more particularly to a shield device and a magnetically controlled capsule endoscope system. [Background technology]

[0003] In the prior art, a magnetically controlled capsule endoscope system includes a capsule endoscope and a magnetic control system, and can control the motion mode, motion path, attitude angle, etc. of the capsule endoscope through a control main member of the magnetic control system. In a specific use, after the control main member of the magnetic control system moves to its working area or a subject enters the working area of ​​the control main member of the magnetic control system, the capsule endoscope is controlled in this working area to move in the digestive tract, thereby taking images of the digestive tract.

[0004] Here, the control main member of the magnetic control system for controlling the capsule endoscope is a ferromagnetic material made of neodymium iron boron material. This ferromagnetic material has a large specification and a surface magnetic field strength that can reach 850mT or more, so it has a strong magnetic effect on ferromagnetic objects or magnetic parts containing iron. As a result, when the control main member is in an unshielded state and is placed still, the nearby magnetic sensitive elements will be affected because the stationary environment lacks a shielding device, and the magnetic sensitive elements will not operate normally. The above-mentioned magnetic sensitive elements include implantable medical elements and some other electronic components. In addition, during the movement of the control main member, the moving environment is not a specific environment that can shield the magnetic field, so that it may affect and damage surrounding ferromagnetic objects and equipment. Meanwhile, in the prior art, the magnetic control system is mainly installed in a separate room to form a safety zone around the magnetic control system, and the magnetic sensitive elements are prevented from entering this safety zone, ensuring the safety of the use of the magnetic control system.

[0005] Because the magnetic control system has a control main member with a strong magnetic field, the magnetic control system (including at least the ferromagnetic control main member) needs to be effectively shielded to prevent the control main member from damaging other magnetically sensitive elements, etc. during transportation or storage. Summary of the Invention [Problem to be solved by the invention]

[0006] In order to solve the problem of the ferromagnetic control main member interfering with the outside world due to ferromagnetic attraction, the present application provides a shielding device and a magnetically controlled capsule endoscope system that can effectively shield the magnetic field of the control main member in a magnetically controlled capsule endoscope system and provide a hardware base that enables quick switching between the operating state and the shielded state of the control main member. [Means for solving the problem]

[0007] According to a first aspect of the present application, there is provided a shielding device for shielding a ferromagnetic control main member supported by a holder, the shielding device comprising: a shield cover and a lifting mechanism connected to each other, the lifting mechanism being driven to slide the shield cover along a direction approaching the control main member or moving away from the control main member; The shield device further includes a position restriction structure, which is used to contact the control main member and / or the holder and restrict movement of the control main member supported by the holder.

[0008] Optionally, the lifting mechanism comprises: A slide support part; a slide part fixedly connected to the shield cover and sliding along the slide support part to move the shield cover away from the control main member or to surround the control main member; A lift and a push rod for controlling the elevation of the shield cover via the elevator, Here, the push rod is connected to the shield cover and moves the shield cover to slide in a direction toward or away from the control main member.

[0009] Optionally, the position control structure includes a support structure and a stopper, the stopper being provided at one end of the support structure close to the control main member, the stopper contacting the control main member and / or the holder under the support of the support structure and limiting the movement of the control main member.

[0010] Optionally, the holder is a robot arm, the support structure comprises a support rod, and the stop comprises a clamping component; The support rod is for supporting the clamp component, The clamping part is fixed to the top of the support rod and is used to clamp the robot arm to limit the movement of the control main member.

[0011] Optionally, the robot arm includes a first sub-arm and a second sub-arm pivotally connected to each other, and the clamping component is a groove; The recessed groove is used to fit the second sub-arm, After the second sub-arm is fitted into the groove, the projections of the first sub-arm and the second sub-arm onto a target plane are two straight lines with a fixed angle. The target plane is a plane on which the bottom of the groove is located, During the process of rotating the first sub-arm, the second sub-arm is fitted into the groove at only one position.

[0012] Optionally, the position control structure further includes a groove elevator, which is used to control the raising and lowering of the support rod so that the clamp part can be raised and lowered by the groove elevator and the support rod.

[0013] Optionally, the support structure includes a support base, the shield cover is provided on an outer side of the support base, and the slide support part is provided on one side of the support base; The support base includes a fixing bracket and a support plate. the support plate is attached by the fixing bracket and is used to mount the control main member; The stopper is provided on an edge of one side of the support plate facing the main control member to limit the movement of the main control member.

[0014] Optionally, the stopper includes a protective slide plate, which is provided on an edge of the plate surface of the support plate and has a smooth surface facing the shield cover in an upright state.

[0015] Optionally, a chute is provided on the plate surface of the support plate, the protective slide plate is mounted within the groove of the chute so as to rotate about its base; wherein the protective slide plate is erected in the chute in a magnetically shielded state, and is fitted in the chute in a non-magnetically shielded state; The support base further includes a locking structure, the locking structure including a locking button, and the locking structure controls the protective slide plate to be in a locked or unlocked state within the chute by the locking button.

[0016] Optionally, the control main member comprises a magnet; The magnet is packaged by a main housing; the stopper includes a mounting base, the mounting base being fixed to a surface of the support base to support the control main member; Here, the surface of the stage and one end of the main housing close to the stage are shaped to fit together.

[0017] According to a second aspect of the present application, there is provided a magnetically controlled capsule endoscope system, the endoscope system comprising: a control main member that is ferromagnetic, a holder that supports the control main member, and a work stage for mounting the holder; Here, the holder supports the control main member so that the control main member moves, and the shield cover of the shield device is for shielding the control main member supported by the holder.

[0018] The shielding device according to the present application includes a shielding cover, a slide support part, a slide part, an elevator, and a push rod for controlling the elevation of the shielding cover via the elevator. Here, the slide support part, the slide part, the elevator, and the push rod constitute an elevation mechanism for elevating the shielding cover, and therefore the shielding cover is disposed so as to surround the periphery of the control main member or can be removed from the periphery of the control main member. This provides a hardware base for the switching operation between the operating state and the shielding state of the control main member. Among these, when the shielding cover is disposed so as to surround the periphery of the control main member by elevation, it can shield the strong magnetic field of the control main member and effectively shield ferromagnetism and static magnetism. In addition, in the present application, the position restriction structure exerts the effects of supporting and limiting the movement of the control main member, preventing the control main member from contacting the shielding cover, and ensuring the shielding effect. [Brief description of the drawings]

[0019] The above and other objects, features and advantages of the present application will become more apparent from the following description of the embodiments of the present application with reference to the drawings. [Figure 1] 1 shows a schematic cross-sectional view of a shield device of the present application in one state. [Diagram 2] 1 is a schematic diagram showing an example of the configuration of a shield device according to the present invention; [Diagram 3] 3 is a cross-sectional view showing a state in which the shield device shown in FIG. 2 is aligned along a central axis line at the bottom surface of a recessed groove of a clamping component. [Figure 4] FIG. 2 is a schematic diagram of the structure of a robot arm in the present application. [Diagram 5] FIG. 2 is a schematic diagram of the structure of the support base in the present application. [Figure 6] FIG. 6 is a schematic diagram showing the structure of the protective slide plate shown in FIG. 5. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present application will now be described in more detail with reference to the accompanying drawings, in which like elements are represented with like reference numerals in the various drawings, and for clarity, parts of the drawings are not drawn to scale, and some well-known parts may not be shown in the drawings.

[0021] In order to make the present application more clearly understandable, many specific details of the present application are described below, such as device structures, materials, dimensions, processing processes, techniques, etc. However, as will be understood by those skilled in the art, the present application may not be practiced according to these specific details.

[0022] FIG. 1 is a schematic cross-sectional view of a shielding device in a first embodiment of the present application. As shown in FIG. 1, this shielding device is attached to a working stage 100 and is used to shield a ferromagnetic control main member 500 supported by a holder 600. The shielding device includes a shield cover 401 and an elevating mechanism 406. The elevating mechanism 406 drives the shield cover 401 to slide in a direction toward or away from the control main member 500. Specifically, the elevating mechanism 406 includes a slide support part 402, a slide part 403, an elevator 404, and a push rod 405 whose elevation is controlled by the elevator 404. Here, the slide support part 402 is fixed to the working stage 100. The slide part 403 is fixedly connected to the outer wall of the shield cover 401 and slides along the slide support part 402 to move the shield cover 401 away from the control main member 500 or to surround the control main member 500. The tip of the push rod 405 is connected to the shield cover 401 (for example, the tip of the push rod 405 is connected to the cover wall of the shield cover 401) and moves the shield cover 401 to slide in a direction approaching the control main member 500 or in a direction away from the control main member 500.

[0023] Specifically, the working stage 100 can adopt a movable structure, i.e., the working stage 100 is movable. The working stage 100 can also adopt a fixed structure, i.e., the working stage 100 can be fixed to the ground. For the fixed working stage 100, the ground can be used, for example.

[0024] The slide support part 402 may be a guide rail. The slide part 403 may be a slider. In this case, as shown in FIG. 2 and FIG. 3, the guide rail may include a rail holder 4021 and a fixed rail 4022. Here, the rail holder 4021 is plate-shaped and fixed to the working stage 100. The fixed rail 4022 is fixed to the rail holder 4021 by a screw and is attached to the rail holder 4021 in a protruding shape. The extension direction of the fixed rail 4022 is parallel to the axial direction of the shield cover 401. The slider is provided with a chute that engages with the fixed rail 4022, so that the slider slides along the fixed rail 4022. In another embodiment, the chute may be provided on the fixed rail 4022, and in this case, the slide part 403 is provided in the chute to move the shield cover 401 along the fixed rail 4022.

[0025] The control main member 500 can be constructed by enclosing the magnet 504 in a main housing 501 as shown in FIG. 1, and the main housing 501 plays a role of protecting the magnet 504. The main housing 501 can be fixed to a holder 600 via a rigid connector such as a cross beam 503. The movement of the magnet 504 itself is controlled by a motor assembly (including, for example, a horizontal rotating electric machine or a vertical rotating electric machine). Here, the material of the magnet 504 may be a magnetic material such as a neodymium magnet, and the shape of the magnet 504 may be a sphere or the like. Note that the present application is not limited to a specific shape of the magnet 504, as long as it can realize control of the capsule endoscope.

[0026] The shield cover 401 may be cylindrical and formed in a multi-layer structure. Preferably, the shield cover 401 may be a single-layer cylindrical shape with a major axis ratio of 1:1 to 1.1:1, thereby saving space, making the installation relatively simple, and meeting the demands of miniaturization and mobility of equipment. In other embodiments, the shield cover 401 may be other shapes capable of shielding a static magnetic field, such as a barrel shape with an open top or a hemisphere shape with an open top, which will not be described further here.

[0027] The control main member 500 moves according to the holder 600 under the support of the holder 600. When the holder 600 does not move and the control main member 500 is relatively stationary and the shield cover 401 surrounds the control main member 500, the strong magnetic field of the control main member 500 is shielded by the shield cover 401, and the control main member 500 is in a magnetically shielded state. When the shield cover 401 retreats from the control main member 500, the control main member 500 is in a non-shielded state. In this case, the strong magnetic field of the control main member 500 can be used to control the movement of the capsule endoscope, so the control main member 500 can also be said to be in an operating state. For the control main member 500 in a relatively stationary state, the magnetic field of the control main member 500 belongs to a static magnetic field. The principle of the shield cover 401 for shielding the relatively strong static magnetic field around the control main member 500 is to use a material with low coercivity, high permeability and high saturation magnetic induction strength to surround the control main member 500 and establish a magnetic field path for the magnetic field around the control main member 500, thereby achieving a magnetic field shielding effect.

[0028] In the embodiment of the present application, the slide support part 402 and the slide part 403 constitute a slide assembly, the lift 404 and the push rod 405 constitute a slide assist assembly, and these two large assemblies constitute a lift mechanism 406 for driving the shield cover 401 to lift. The shield cover 401 slides vertically simply and smoothly under the driving of the lift mechanism 406. Here, when the shield cover 401 is arranged around the control main member 500 by lifting, it can shield the strong magnetic field of the control main member 500 and achieve the purpose of effectively shielding ferromagnetism and static magnetism. At the same time, the lift mechanism 406 allows the control main member 500 to flexibly switch between a shielded state and a non-shielded state. In the automated control, a hardware base is provided for the switching operation between the working state and the shielded state of the control main member 500.

[0029] The control main member 500 hanging from the holder 600 is heavy and has a long process of moving into the shield cover 401, so that even a slight shaking can easily cause the control main member 500 to come into contact with the shield cover 401, which may affect the effect of the magnetic shield, and therefore the shield device in this application needs to limit the movement of the control main member 500. In an alternative embodiment, the shield device further includes a position restriction structure 300 for restricting the movement of the control main member 500 supported by the holder 600, so that the control main member 500 can be kept stationary without being affected (e.g., by reducing the effect of the suction force of the shield cover 401 on the control main member 500). Specifically, the position restriction structure 300 includes a support structure and a stopper, and the stopper is installed at one end of the support structure close to the control main member 500. The stopper contacts the control main member 500 and / or the holder 600 under the support of the support structure, and limits the movement of the control main member 500 to prevent the control main member 500 from contacting the shield cover 401.

[0030] Next, the optional structure of the above-mentioned position regulating structure 300 will be described in detail.

[0031] (1) First optional structure of the position restriction structure 300 1, 2 and 3, the holder 600 is a robot arm, and the position restriction structure 300 includes a support structure and a stopper. The stopper includes a clamping part 301. The support structure includes a support rod for supporting the clamping part 301. Here, the clamping part 301 is fixed to the top of the support rod, and is used to clamp the robot arm and restrict the movement of the control main member 500.

[0032] After the height, angle, etc. of the clamping part 301 are fixed, the clamping part 301 is mainly used to control the movement of the control main member 500 in a plane parallel to the table surface of the working stage 100. At the same time, the clamping part 301 can also prevent the control main member 500 from descending, that is, the clamping part 301 also plays a role of supporting the control main member 500 and restricting the descent of the control main member 500. Therefore, the clamping part 301 plays a role of reinforcing the static state of the control main member 500 as a whole.

[0033] In addition, the position control structure 300 further includes a groove elevator 302. The bottom of the aforementioned support rod is connected to the groove elevator 302, and the lifting and lowering are controlled by the groove elevator 302. In addition, the clamping part 301 can realize the lifting and lowering operation through the groove elevator 302 and the support rod. Thus, the clamping part 301 plays a supporting role for the control main part 500 according to different heights of the control main part 500. That is, the clamping part 301 can cooperate with the robot arm as much as possible to ensure that the control main part 500 is not affected by the shield cover 401 and remains stationary.

[0034] As shown in FIG. 4, the above-mentioned robot arm specifically includes a first sub-arm 601 and a second sub-arm 602 that are rotatably connected to each other. Moreover, the clamping part 301 is provided as a groove. Here, the groove is used to embed the second sub-arm 602. Then, after the second sub-arm 602 is embedded in the groove, the projections of the first sub-arm 601 and the second sub-arm 602 onto the target plane become two straight lines with a fixed angle, and the target plane is the plane where the bottom of the groove is located. Also, while the first sub-arm 601 is rotating, there is only one position where the second sub-arm 602 can be fitted into the groove.

[0035] Optionally, the robot arm further includes an intermediate joint 603 provided between the end of the first sub-arm 601 and the start end of the second sub-arm 602, and a start joint 604 provided at the start end of the first sub-arm 601. Here, the start joint 604 is used to rotate the first sub-arm 601 to realize relative rotation of the entire robot arm. The intermediate joint 603 is used to realize the rotation of the first sub-arm 601 with respect to the second sub-arm 602.

[0036] For example, as shown in FIG. 4, the target plane is the xy plane, and when the second sub-arm 602 rotates around the axis L1 (axis L1 is along the x-axis direction), the first sub-arm 601 and the second sub-arm 602 are projected onto the target plane as two straight lines with fixed angles. When the wall of the groove of the clamping part 301 is provided along the axis L3 (axis L3 is along the y-axis direction) and the first sub-arm 601 rotates around the axis L2 (axis L2 is along the z-axis direction), in the process in which the first sub-arm 601 rotates and moves the second sub-arm 602 to rotate with it, only one position of the second sub-arm 602 is parallel to the y-axis, and at that position the second sub-arm 602 can fit into the groove. When the first sub-arm 601 rotates around the axis L2, the first sub-arm 601 controls the orientation of the magnet 504 in the xy plane. The second sub-arm 602 rotates around an axis L1 to vertically rotate one end of the second sub-arm 602 close to the magnet 504, thereby controlling the height of the magnet 504 in the z-axis direction.

[0037] In the embodiment of the present application, the above-mentioned orientation relationship between the groove and the robot arm effectively prevents the robot arm joint from moving due to the attractive force of the magnet 504 to the shield cover 401. In addition, the above-mentioned orientation relationship between the groove and the robot arm can be combined with a height-adjustable groove to more effectively restrict the movement of the robot arm due to the attractive force of the shield cover 401 to the magnet 504, and further ensure that the control main member 500 is continuously maintained in a stationary state. In addition, the groove prevents the influence of the backlash of the device on the control main member 500, and further prevents the control main member 500 from contacting the shield cover 401.

[0038] In other embodiments of the present application, the control main member 500 realizes the suspension by clamping two or more robot arms, including for example a drive arm and a balance arm, but the working principle of the shield device remains the same and will not be described further here.

[0039] (2) Second optional structure of the position restriction structure 300 As shown in FIG. 3, the position regulating structure 300 includes a support structure and a stopper. The support structure includes a support base 200. The support base 200 is used to support the control main member 500. The shield cover 401 is set to surround the outside of the support base 200. The slide support part 402 is installed on one side of the support base 200. In this case, when the shield cover 401 slides below the table surface of the support base 200, the shield cover 401 moves away from the control main member 500, and when the shield cover 401 slides above the table surface of the support base 200, the shield cover 401 surrounds the control main member 500. As shown in FIG. 5, the support base 200 includes a support plate 203 and a fixing bracket 202 for placing the support plate 203 on the working stage 100. Here, the support plate 203 provides the table surface of the support base 200, and the support plate 203 is used to place the control main member 500. The stoppers are provided on the edge of the surface of the support plate 203 facing the control main member 500 to limit the movement of the control main member 500 .

[0040] In the embodiment of the present application, the base surface of the support 200 is the end surface of the support 200 facing the control main member 500. There are various methods for attaching the support 200 to the working stage 100, including, for example, screw fitting, tenon fitting, rivet fitting, etc., as long as the connection strength between them can be guaranteed.

[0041] Optionally, as shown in Fig. 4, in order to facilitate the operation of the operator, the shield apparatus further includes an operation table 700 provided around the support table 200. Tools used by the operator are placed on the operation table 700.

[0042] Specifically, as shown in FIG. 5, the fixed bracket 202 and the support plate 203 can form a "round table" structure, i.e., the fixed bracket 202 is composed of four table legs, and the support plate 203 is circular and supported by the four table legs.

[0043] 6, the stopper includes a protective slide plate 303, which is installed on the edge of the plate surface (the surface facing the control main member 500) of the support plate 203. Moreover, when the protective slide plate 303 is in an upright state, one surface of the protective slide plate 303 facing the shield cover 401 (i.e., the surface painted black in FIG. 5) is a smooth surface, so that the protective slide plate 303 limits the control main member 500 to the support plate 203 and at the same time separates the control main member 500 from the shield cover 401 sliding around the support plate 203. Furthermore, the protective slide plate 303 performs a good slide guide function for the shield cover 401. Here, the shield cover 401 is set so as to surround the outside of the edge of the support base 200, and the shield cover 401 is placed below or above the support plate 203 by sliding. It should be understood that when the shielding cover 401 is positioned below the support plate 203, the control main member 500 is in a non-shielded state, and when the shielding cover 401 is positioned above the support plate 203, the control main member 500 is in a shielded state.

[0044] In one optional embodiment, as shown in Fig. 5, a chute 204 is provided on the plate surface of the support plate 203. The protective slide plate 303 is mounted in a groove of the chute 204 so as to rotate around the bottom of the support plate 203. Here, the protective slide plate 303 is erected in the chute 204 when the control main member 500 is in a magnetic shielding state, and is fitted in the chute 204 when the control main member 500 is in a non-magnetic shielding state.

[0045] To switch the state of the protective sliding plate 303, the support base 200 further includes a locking structure (not shown). The locking structure includes a locking button 205. The locking structure controls the protective sliding plate 303 to be in a locked state or an unlocked state in the chute 204 through the locking button 205.

[0046] When the protective slide plate 303 is in a locked state within the chute 204, the protective slide plate 303 maintains an upright state within the chute 204, which corresponds to a magnetically shielded state of the control main member 500. On the other hand, when the protective slide plate 303 is in an unlocked state within the chute 204, the protective slide plate 303 maintains an embedded (horizontal) state within the chute 204, which corresponds to a non-magnetically shielded state of the control main member 500.

[0047] Specifically, there may be a plurality of protective slide plates 303. The plurality of protective slide plates 303 are arranged around the center of the support plate 203 and close to the edge of the support plate 203, thereby surrounding the control main member 500 and forming a gap between the control main member 500 and the shield cover 401, thereby providing a better limiting effect on the control main member 500 and a better sliding guide effect on the shield cover 401. Note that, in the present application, as long as the movement or rotation of the protective slide plate 303 relative to the support plate 203 can be realized and the limiting function and the sliding guide function of the protective slide plate 303 can be ensured, there is no particular limitation on the number and installation form of the plurality of protective slide plates 303.

[0048] Preferably, the protective sliding plates 303 are uniformly and spaced apart on the support plate 203. Exemplarily, as shown in FIG. 5, if there are four protective sliding plates 303 in total, the four protective sliding plates 303 can be installed at the groove end of a "cross" chute as shown in FIG. 5. If there are three protective sliding plates 303, the three protective sliding plates 303 can be installed at the groove end of a "Y" chute. If there are eight protective sliding plates 303, the eight protective sliding plates 303 can be installed at the groove end of a "rice" chute. Here, the protective sliding plates 303 are installed at the groove end of the chute, i.e., the protective sliding plates 303 are installed close to the edge of the support plate 203.

[0049] 1, 2 and 3, in the control main member 500, the magnet 504 is a magnetic ball, the main housing 501 is at least partially columnar, and the height of the protective slide plate 303 can be set to the radius of the magnetic ball as the lower limit. In the process of rotating the protective slide plate 303 around its bottom, the maximum angle with the plate surface of the support plate 203 is set within the range of 90° to 95°. In this range, the protective slide plate 303 can effectively isolate the inner wall of the shield cover 401 from the main housing 501, and can avoid direct contact between the inner wall of the shield cover 401 and the main housing 501. Since there is a gap between the shield cover 401 and the control main member 500 due to the protective slide plate 303, the shield cover 401 can be smoothly slid against the attractive force of the magnet 504.

[0050] The locking structure can be specifically a conventional structure. For example, the chute 204 and the protective slide plate 303 are as shown in Fig. 5 and Fig. 6 (i.e., the protective slide plate 303 is a rectangular parallelepiped, there are four protective slide plates 303 in total, and each is provided at each end of the groove of the "cross"-shaped chute, and each protective slide plate 303 rotates around the rotation axis A1, A2 on the inside of the bottom). The locking structure includes a spring and the above-mentioned locking button 205. The two opposing protective slide plates 303 in the chute 204 are connected to each other by a connecting spring between the outer rotation axes B1, B2. In this way, when the two opposing protective slide plates 303 are fitted into the groove of the chute 204, the above-mentioned spring is in a naturally stretched state, and when the protective slide plate 303 is fitted into the chute 204, this state can be locked. However, when the lock button 205 is pressed, the lock button 205 is pressed by the spring, stretching the spring. When the restoring force of the spring pulls the two protective sliding plates 303 connected to each other, the two protective sliding plates 303 spring up and stand upright.

[0051] In particular, in another embodiment, one end of the protective slide plate 303 that abuts against the chute 204 is rounded or arc-shaped so that the protective slide plate 303 can flexibly rotate within the chute 204. More preferably, taking the case where the protective slide plate 303 is fitted (placed horizontally) within the chute 204 as an example, of the end of the protective slide plate 303 that abuts against the chute 204, the side closer to the table surface of the support base 200 is formed at a right angle, and the side closer to the groove bottom of the chute 204 is formed at a circular angle or arc-shaped.

[0052] In the embodiment of the present invention, through the installation of the chute 204 and the locking structure, the protective sliding plate 303 can flexibly switch between the locked state and the unlocked state according to whether the control main member 500 is in the shielded state or not, that is, a hardware basis is provided for the flexible switching between the locked state and the unlocked state, which is advantageous for matching the installation state of the protective sliding plate 303 with the state switching of the control main member 500.

[0053] (3) Third optional structure of the position control structure 300 As shown in FIG. 1, the position regulating structure 300 includes a support structure and a stopper. The support structure includes a support base 200, a shield cover 401 is set on the outside of the support base 200, and a slide support part 402 is installed on one side of the support base 200. In this case, when the shield cover 401 slides below the base surface of the support base 200, it moves away from the control main member 500, and when it slides above the base surface of the support base 200, it surrounds the control main member 500. The stopper includes a mounting base 304 fixed to the base surface of the support base 200 to support the control main member 500. The control main member 500 includes a magnet 504 sealed via the main housing 501. Here, the base surface of the mounting base 304 (one side facing the main housing 501) and one end of the main housing 501 close to the mounting base 304 are shaped to fit together with each other. The mounting base 304 serves to prevent the movement of the main housing 501 so that the control main member 500 is mounted relatively stably on the mounting base 304 .

[0054] Specifically, if the bottom surface of main housing 501 is hemispherical, then the surface of mounting base 304 should also be hemispherical so that the bottom surface of main housing 501 is embedded in the surface of mounting base 304 .

[0055] The surface of mounting table 304 may be a continuous structure or a discontinuous structure, as long as it has a shape that fits with the bottom surface of main housing 501. For example, if the bottom surface of main housing 501 is hemispherical, the surface of mounting table 304 may be hemispherical with an openwork portion.

[0056] For the shielding device, any of the above structures of the position restriction structure 300 can be selected under actually acceptable conditions. Furthermore, the above-mentioned multiple optional structures of the position restriction structure 300 can be used in combination under actually acceptable conditions, for example, the first position restriction structure 300 and the third position restriction structure 300 can be used in combination as shown in Fig. 1. It is worth noting that in some embodiments in which multiple position restriction structures 300 are combined, the placement table 304 needs to be offset from the arrangement position of the chute 204 on the plate surface of the support plate 203.

[0057] In addition, in the embodiment of the present application, in order to further improve the shielding effect of the shielding device for the control main member 500, the shielding device further includes a shield plate (not shown) connected to an end of the shield cover 401 to form a closed cavity together with the shield cover 401. The control main member 500 is accommodated in the aforementioned closed cavity. For example, the support base 200 is formed as a shield plate to enhance the magnetic shielding effect of the aforementioned closed cavity.

[0058] In addition to the shielding device provided by the embodiment of the present application, the second embodiment of the present application further provides a magnetically controlled capsule endoscope system (not shown). This magnetically controlled capsule endoscope system includes the shielding device according to the embodiment described above, a ferromagnetic control main member 500, a holder 600 supporting the control main member 500, and a working stage 100 for mounting the holder 600. Here, the holder 600 supports the control main member 500 so as to move it, and the shield cover 401 in the shielding device is used to shield the control main member 500 supported by the holder 600, preventing the control main member 500 from adversely affecting the surrounding magnetic sensitive elements, and the magnetically controlled capsule endoscope system can perform a switching operation between an operating state and a shielded state for the control main member 500.

[0059] It should be explained that, in this specification, relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. Furthermore, the terms "comprise", "comprise", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or device that includes a set of elements includes not only those elements, but also other elements not expressly listed, or may include elements inherent for such process, method, article, or device. In the absence of further limitations, an element defined by "comprise one" does not exclude the presence of another identical element in a process, method, article, or device that includes the aforementioned element.

[0060] According to the embodiments of the present application as described above, these embodiments are not detailed in all details, and the disclosure is not limited to only the specific embodiments described above. Obviously, many modifications and variations are possible according to the above description. The present specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present application, so that those skilled in the art can make good use of the present application, and can make modifications and use based on the present application. The present application is limited only by the claims and the full scope and equivalents thereof.

Claims

1. A shielding device for shielding a ferromagnetic main control member supported by a holder, comprising: The shield cover is connected to the lift mechanism. The lifting mechanism drives the shield cover to slide along a direction approaching or moving away from the control main member, The shield device further includes a position control structure, which is used to contact the control main member and / or the holder and control movement of the control main member supported by the holder.

2. The lifting mechanism includes: A slide support part; a slide part fixedly connected to the shield cover and sliding along the slide support part to move the shield cover away from the control main member or to surround the control main member; A lift and a push rod for controlling the elevation of the shield cover via the elevator, 2. The shield device according to claim 1, wherein the push rod is connected to the shield cover and moves the shield cover to slide in a direction toward or away from the control main member.

3. The position restriction structure includes a support structure and a stopper, The stopper is provided at one end of the support structure close to the main control member, 2. The shield device according to claim 1, wherein the stopper contacts the control main member and / or the holder under the support of the support structure and limits the movement of the control main member.

4. the holder is a robot arm, the support structure includes a support rod, and the stopper includes a clamp component; The support rod is for supporting the clamp component, 4. The shielding device according to claim 3, wherein the clamping part is fixed to the top of the support rod and is used to clamp the robot arm to limit the movement of the main control member.

5. The robot arm includes a first sub-arm and a second sub-arm that are rotatably connected to each other, and the clamping part is a groove. The recessed groove is used to fit the second sub-arm, After the second sub-arm is fitted into the groove, the projections of the first sub-arm and the second sub-arm onto a target plane are two straight lines with a fixed angle, and the target plane is a plane on which the bottom of the groove is located; 5. The shield device according to claim 4, wherein the second sub-arm is fitted into the recessed groove at only one position during the process of rotation of the first sub-arm.

6. The shield device according to claim 4, characterized in that the position control structure further includes a groove elevator, the groove elevator being used to control the lifting and lowering of the support rod so that the clamping part can be raised and lowered by the groove elevator and the support rod.

7. The support structure includes a support base, the shield cover is provided on the outer side of the support base, and the slide support part is provided on one side of the support base; The support base includes a fixing bracket and a support plate. the support plate is attached by the fixing bracket and is used to mount the control main member; 4. The shield device according to claim 3, wherein the stopper is provided on an edge of one surface of the support plate facing the control main member, for limiting the movement of the control main member.

8. The shielding device according to claim 7, characterized in that the stopper includes a protective slide plate, the protective slide plate being provided on an edge of the plate surface of the support plate, and a surface facing the shield cover in an upright state being a smooth surface.

9. A chute is provided on the surface of the support plate, the protective slide plate is mounted within the groove of the chute so as to rotate about its base; wherein the protective slide plate is erected in the chute in a magnetically shielded state, and is fitted in the chute in a non-magnetically shielded state; The support further includes a locking structure, the locking structure including a locking button; The shield device according to claim 8, wherein the locking structure controls the protective slide plate to be in a locked or unlocked state within the chute by the lock button.

10. The control main member includes a magnet, The magnet is packaged by a main housing; the stopper includes a mounting base, the mounting base being fixed to a surface of the support base to support the control main member; 8. The shield device according to claim 7, wherein a surface of the stage and one end of the main housing close to the stage are shaped to fit together.

11. A shielding device according to any one of claims 1 to 10, a ferromagnetic control main member, a holder for supporting the control main member, and a work stage for mounting the holder, Here, the holder supports the control main member so that it moves, and the shield cover of the shield device is for shielding the control main member supported by the holder, in a magnetically controlled capsule endoscope system.

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