Magnetically controlled capsule system and its quantitative closed-loop control method

Abstract

The present invention discloses a magnetically controlled capsule system and a quantitative closed-loop control method thereof. The method includes: continuously acquiring real-time position and attitude information of the capsule; acquiring target position and attitude information of the capsule; determining a target position and attitude range based on the target position and attitude information, calculating a current moving path of a controlled magnet, and controlling the controlled magnet to move along the current moving path so that the real-time position and attitude information is within the target position and attitude range; thereby quantitatively and feedback-controlling the capsule's motion process and precisely controlling the capsule's momentum.

Description

[Technical field]

[0001] (Related Applications) This application claims priority to a Chinese patent application filed on March 18, 2022, bearing application number 202210272489.2, and entitled "Magnetic control capsule system and quantitative closed-loop control method therefor", the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the medical device technical field, and in particular to a magnetically controlled capsule system and a quantitative closed-loop control method thereof. [Background technology]

[0003] Positioning technologies for internal devices, such as wireless capsules and invasive medical devices, are attracting more and more attention. Magnetically controlled capsule systems use magnetic force to move the capsule inside the body, but currently, capsule driving requires a doctor with extensive experience. The doctor uses a built-in camera to take an examination image of the inner wall of the digestive tract, confirms the position and orientation of the capsule, and uses an externally controlled magnet to move the capsule to the next position.

[0004] Due to the extreme nonlinearity of magnetic force, the non-uniform spatial distribution characteristics, the deformable environment of the digestive tract, and the influence of frictional force, the rotation of the capsule makes it difficult to judge the actual orientation through images, and the image visual feedback information alone cannot accurately control the capsule to the target position and target attitude angle. The existing positioning system can only play the role of auxiliary confirmation, and the next movement of the capsule still relies on the doctor's empirical judgment, and the entire control process is not intuitive and lacks precision.

[0005] In particular, in the process of controlling the movement of the capsule with a permanent magnet, the control speed is slow and the feedback transmission speed is also slow, because the permanent magnet cannot change the magnitude or direction of the magnetic force as frequently as an electromagnet, which makes it difficult to make further control decisions based on the feedback, resulting in very low operation efficiency and a poor user experience. Summary of the Invention

[0006] SUMMARY OF THE PRESENT EMBODIMENT In order to solve at least one of the problems of the prior art described above, it is an object of the present invention to provide a magnetically controlled capsule system and a quantitative closed-loop control method thereof that precisely controls the motion of the capsule through a form of feedback.

[0007] In order to achieve the above object of the present invention, one embodiment of the present invention provides a quantitative closed-loop control method for a magnetically controlled capsule system, the control method comprising: continuously acquiring real-time location information of the capsule; acquiring target position information of the capsule; determining a target position range based on the target position information; calculating a current moving path of a control magnet based on the real-time position information and the target position information; controlling the control magnet to move along the current movement path; and determining whether the real-time position information is within the target range, and if the real-time position information is outside the target position range until the control magnet stops moving, repeating the step of "calculating a current movement path of the control magnet based on the real-time position information and the target position information, and controlling the control magnet to move along the current movement path" until the real-time position information is within the target position range.

[0008] As a further improvement of the present invention, The method further includes the step of continuously obtaining real-time magnet position information of the controlled magnet, wherein the real-time magnet position information, the real-time position information and the target position information are all located in the same world coordinate system.

[0009] As a further improvement of the present invention, obtaining a critical distance; and calculating status information of the capsule based on the real-time magnet position information, the real-time position information, and the critical distance.

[0010] the critical distance being the distance between the capsule and the control magnet when the capsule is suspended in liquid; The state information includes a bottom sinking state, a surface floating state, and a ceiling suction state.

[0011] As a further refinement of the present invention, the target position information comprises a target state; if the state information does not match a target state, adjusting the height of the control magnet until the capsule is in the target state; and adjusting the orientation of the control magnet so that an endoscope of the capsule faces a specified direction.

[0012] As a further improvement of the present invention, When the target state is a bottom state, the distance between the capsule and the control magnet is controlled to be greater than the sum of the critical distance and a first threshold value; When the target state is a ceiling attraction state, the distance between the capsule and the control magnet is controlled to be smaller than the sum of the critical distance and a second threshold value.

[0013] As a further refinement of the present invention, the step of obtaining the critical distance comprises: obtaining the critical distance based on a critical distance algorithm or based on measurement data; The critical distance algorithm calculates the distance between the control magnet and the capsule based on the fact that, when floating on the liquid surface, the sum of the attractive force between the control magnet and the capsule and the buoyant force acting on the capsule is equal to the gravity of the capsule.

[0014] As a further improvement of the present invention, The control magnet may further include a step of controlling the control magnet to move to an initial position; In the initial position, the control magnet and the capsule are on the same line perpendicular to the XY plane of the world coordinate system.

[0015] As a further improvement of the present invention, obtaining a motion scheme of the control magnet; and if the motion mode of the control magnet is a translational mode and the capsule does not move, switching the motion mode of the control magnet to a rotational mode; The motion manner includes a translation manner and / or a rotation manner.

[0016] As a further improvement of the present invention, the step of calculating a current moving path of the control magnet based on the real-time position information and the target position information comprises: calculating a current offset amount based on the real-time position information and the target position information; calculating a first difference value in an X-axis direction in the world coordinate system between the real-time position information and the target position information, and setting a product of the first difference value and a first correction coefficient as an X-axis difference value; calculating a second difference value in a Y-axis direction in the world coordinate system between the real-time position information and the target position information, and setting a product of the second difference value and a second correction coefficient as a Y-axis difference value; When the motion mode of the control magnet is a translation mode, the current movement path is translated along the current offset amount; The current offset amount includes the X-axis difference value in the X-axis direction and the Y-axis difference value in the Y-axis direction in the world coordinate system.

[0017] As a further improvement of the present invention, the step of calculating a current moving path of the control magnet based on the real-time position information and the target position information comprises: obtaining a major axis circumference of the capsule; calculating a current rotation amount based on the real-time position information and the target position information; If the motion mode of the control magnet is a rotation mode, the current moving path is rotated along the rotation direction by the number of rotation revolutions; the major axis circumference corresponds to one rotation of the capsule along its major axis; The current amount of rotation includes the number of revolutions and the direction of rotation of the capsule.

[0018] As a further refinement of the present invention, the target position range includes a predetermined distance; Calculating a distance between the real-time position information and the target position information projected on an XY plane of the world coordinate system; determining that the real-time location information is within the target location range if the distance is equal to or less than the predetermined distance; If the distance is greater than the predetermined distance, determining that the real-time location information is outside the target location range.

[0019] As a further improvement of the present invention, If the real-time position information is within the target position range, or if the distance between the real-time magnet position information and the real-time position information is greater than a safety distance, The method further includes controlling the control magnet and the capsule to be on the same straight line perpendicular to the XY plane of the world coordinate system.

[0020] In order to achieve one of the above objects of the invention, one embodiment of the present invention provides a quantitative closed-loop control method for a magnetically controlled capsule system, the control method comprising: continuously acquiring real-time attitude information of the capsule; acquiring target attitude information of the capsule; Calculating a target attitude range and a current rotation path of a control magnet based on the target attitude information; controlling the control magnet to move along the current rotational path; and determining whether the real-time position information is within the target range, and if the real-time attitude information is outside the target attitude range until the control magnet stops moving, repeating the step of "calculating a target attitude range and a current rotation path of the control magnet based on the target attitude information, and controlling the control magnet to move along the current rotation path" until the real-time attitude information is within the target attitude range.

[0021] As a further improvement of the present invention, the method further comprises the step of continuously obtaining real-time magnet attitude information of the control magnet, wherein the real-time magnet attitude information, the real-time attitude information and the target attitude information are all located in the same world coordinate system.

[0022] As a further refinement of the present invention, the current rotation path comprises a current rotation amount, the current rotation amount comprises a first angular difference and a second angular difference; The method further includes controlling the control magnet to rotate to an initial attitude; the initial attitude forms a first angle with a Z-axis positive direction, the target attitude information forms a second angle with the Z-axis positive direction, the first angle difference is a product of a difference between the second angle and the first angle and a third correction coefficient, The initial attitude forms a third angle with the positive direction of the Y axis on the XY plane, the target attitude information forms a fourth angle with the positive direction of the Y axis on the XY plane, and the second angle difference is the product of a difference value between the fourth included angle and the third included angle and a fourth correction coefficient.

[0023] As a further refinement of the invention, the target attitude range includes a predetermined angle difference; calculating a first unit vector corresponding to the real-time attitude information; calculating a second unit vector corresponding to the target attitude information; calculating a real-time angular difference between the first unit vector and the second unit vector; determining that the real-time attitude information is within the target attitude range when the real-time angle difference is equal to or smaller than the predetermined angle difference; If the real-time angle difference is greater than the predetermined angle difference, determining that the real-time attitude information is outside the target attitude range.

[0024] In order to achieve one of the above objects of the present invention, one embodiment of the present invention provides a magnetically controlled capsule system. a first acquisition module for continuously acquiring real-time location information of the capsule; a first target acquisition module for acquiring target position information of the capsule and determining a target position range based on the target position information; a first calculation module for calculating a current moving path of a control magnet according to the real-time position information and the target position information; a first control module for controlling the control magnet to move along the current movement path; a first determination module for determining whether the real-time location information is within the target range; When the controlled magnet stops moving and the real-time position information is outside the target position range, "the first calculation module calculates a current movement path of the controlled magnet based on the real-time position information and the target position information, and the first control module controls the controlled magnet to move along the current movement path" is repeated until the real-time position information falls within the target position range.

[0025] In order to achieve one of the above objects of the present invention, one embodiment of the present invention provides a magnetically controlled capsule system. a second acquisition module for continuously acquiring real-time attitude information of the capsule; a second target acquisition module for acquiring target attitude information of the capsule; a second calculation module for determining a target attitude range and a current rotation path of a control magnet based on the target attitude information; a second control module for controlling the control magnet to move along the current rotational path; and a second judgment module for determining whether the real-time position information is within the target range, and if the control magnet stops moving and the real-time attitude information is outside the target attitude range, "the second calculation module calculates the target attitude range and the current rotation path of the control magnet based on the target attitude information, and the second control module controls the control magnet to move along the current rotation path" is repeated until the real-time attitude information enters the target attitude range.

[0026] In order to achieve one of the objects of the invention, an embodiment of the present invention provides an electronic device, the electronic device including a storage module and a processing module, the storage module storing a computer program executable on the processing module, and the processing module executing the computer program to realize the steps of the quantitative closed-loop control method for a magnetically controlled capsule system described above.

[0027] In order to achieve one of the objects of the above invention, one embodiment of the present invention provides a readable storage medium.

[0028] The storage medium stores a computer program, The computer program, when executed by a processing module, implements the steps of the method for quantitative closed-loop control of a magnetically controlled capsule system described above. Effect of the Invention

[0029] Compared with the prior art, the present invention has the following beneficial effects. This quantitative closed-loop control method of the magnetically controlled capsule system can quantitatively control the process of capsule movement and make the capsule accurately reach the target position and / or target attitude. In addition, the amount of capsule movement can be precisely controlled by the feedback-type quantitative closed-loop control method. In addition, this method can also be applied to permanent magnet controlled capsule movement scenarios, avoiding the problem of slow operation caused by the slow speed and state switching of the permanent magnet, and the robustness of the control process is high. In addition, this method can realize complex control logic and perform derivative gastrointestinal examination applications, providing convenience for the automation, intelligent examination and derivative applications of the magnetically controlled capsule system. [Brief description of the drawings]

[0030] [Figure 1] 4 is a flowchart of a magnetic control capsule system control method according to one embodiment of the present invention. [Diagram 2] 13 is a flowchart of a method for controlling a magnetically controlled capsule system according to another embodiment of the present invention. [Diagram 3] FIG. 2 is a structural diagram of a capsule according to an embodiment of the present invention after it has sunk to the bottom inside the human body and been adjusted in position. [Figure 4] FIG. 2 is a structural diagram of a capsule according to an embodiment of the present invention after sinking to the bottom inside the human body and adjusting its posture. [Diagram 5] 2 is a schematic diagram of the magnetic field line distribution of a control magnet and the relative strength of its perpendicular magnetic field in one embodiment of the present invention. FIG. [Figure 6] FIG. 2 is a schematic diagram of a capsule according to an embodiment of the present invention maintaining force balance within the human body. [Figure 7] FIG. 2 is a schematic diagram of a capsule moving in a translational manner according to one embodiment of the present invention. [Figure 8] 2 is a schematic diagram of a capsule moving in a rotational manner according to one embodiment of the present invention; FIG. [Figure 9] 1 is a schematic diagram of a process in which a capsule adjusts its attitude in one embodiment of the present invention. FIG. [Figure 10]FIG. 2 is a module schematic diagram of a magnetically controlled capsule system according to one embodiment of the present invention.

[0031] Here, 1000 represents a magnetic control capsule system, 100 represents a magnetic control system, 200 represents a capsule positioning system, 201 represents a capsule, 300 represents a bed surface, 400 represents a human body, 10 represents a control magnet, 20 represents a signal transmission module, 30 represents a memory module, 40 represents a processing module, 50 represents a magnetic sensor, 60 represents an acceleration sensor, 70 represents a signal transmission module, 80 represents an imaging module, and 90 represents a communication bus. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] The present invention will be described in detail below with reference to specific embodiments shown in the drawings, however, these embodiments do not limit the present invention, and any structural, method or functional modifications made by those skilled in the art based on these embodiments are within the scope of protection of the present invention.

[0033] It should be understood that terms expressing spatial relative positions, such as "top", "upper", "lower", "below" and the like, used herein are used for the purpose of describing the relationship of one unit or feature to another unit or feature illustrated in the figures, and are intended to include different orientations during use or operation of the device other than those illustrated in the figures.

[0034] An embodiment of the present invention provides a magnetically controlled capsule system and a quantitative closed-loop control method thereof, which precisely controls the capsule's motion through a feedback format, allowing the capsule to accurately reach a target position and / or attitude. In particular, the present invention shows a remarkable advance in the scenario of controlling the capsule's motion with a permanent magnet, and provides convenience for the automation, intelligent inspection and derived applications of the magnetically controlled capsule system.

[0035] The magnetically controlled capsule system 1000 of this embodiment includes a magnetic control system 100, a capsule positioning system 200, a control magnet 10, and a capsule 201. The magnetic control system 100 is used to control the movement of the capsule 201. The capsule positioning system 200 is used to determine the position of the capsule 201. The capsule 201 is equipped with a sensor module inside, which includes a magnetic sensor 50 for detecting a magnetic field. The magnetic sensor may be a Hall sensor, an anisotropic magnetoresistance (AMR) sensor, a giant magnetoresistance (GMR) sensor, a tunnel magnetoresistance (TMR) sensor, or the like. The control magnet 10 includes a magnetic source for generating a magnetic field and a servo motor for controlling the movement of the magnetic source, and the magnetic source is preferably a permanent magnet. The capsule 201 is a capsule endoscope, and a magnetic body is disposed inside the capsule 201, which interacts with the magnetic source of the control magnet 10. The magnetic control system 100 controls the position and attitude of the capsule 201 through the force exerted by the magnetic source on the magnetic body.

[0036] 1 and 2 show two examples of the quantitative closed-loop control method of the magnetically controlled capsule system 1000 in one embodiment of the present application. FIG. 1 is used for adjusting the position of the capsule 201, and FIG. 2 is used for adjusting the attitude of the capsule 201. FIG. 3 and FIG. 4 are schematic diagrams of the magnetically controlled capsule system 1000 in one embodiment of the present application applied to a human body 400, in which FIG. 3 shows a state in which the position adjustment of the capsule 201 is completed, and FIG. 4 shows a state in which the attitude adjustment of the capsule 201 is completed. The capsule 201 is located inside the human body 400, the human body 400 is lying on a bed surface 300, and a magnetic control system 100 including a control magnet 10 is installed outside the human body 400. During an examination, the movement of the capsule 201 inside the human body 400 is controlled by a magnetic field generated by the control magnet 10.

[0037] In order to clearly express the positions and directions described in this embodiment, in this embodiment, a state in which the human body 400 is lying on the bed surface 300 is defined, and the upper side of the human body 400 is defined as a positive direction, and the lower side of the human body 400 is defined as a negative direction. The control magnet 10 can control the capsule 201 in any direction of the human body 400. Taking Fig. 3 and Fig. 4 as an example, the control magnet 10 is located above the human body 400, and the buoyancy direction is upward, and the gravity direction is downward. In this application, the left direction parallel to the paper surface is defined as the left direction, and the right direction parallel to the paper surface is defined as the right direction.

[0038] Hereinafter, the position adjustment of the capsule 201 will be discussed in combination with Figures 1, 3, and 5 to 8. Although the present application provides operational steps of the methods shown in the embodiments and flowcharts described below, the execution order of non-causally related steps that are logically necessary in the methods is not limited to the execution order provided in the embodiments of the present application, if it is based on common sense or does not require creative effort.

[0039] As shown in FIG. 1, the specific quantitative closed-loop control method of the magnetically controlled capsule system 1000 includes the following steps.

[0040] Step 101: Continuously obtain real-time location information of the capsule 201.

[0041] At the same time, real-time magnet position information of the control magnet 10 can also be obtained continuously.

[0042] Here, the real-time magnet position information, the real-time position information, and target position information (to be described later) are all located in the same world coordinate system.

[0043] The real-time position information of the capsule 201 can be obtained through the capsule positioning system 200, and the real-time magnet position information can be obtained through the magnetic control system 100. The coordinate system of the magnetic control system 100 and the coordinate system of the capsule positioning system 200 are matched to form a unified world coordinate system. The coordinates of the capsule position information obtained by the capsule positioning system 200 are converted into the world coordinate system, and the coordinates of the magnet position information obtained by the magnetic control system 100 are also converted into the world coordinate system, so that they can be uniformly adjusted.

[0044] The 6-DOF state data provided by the capsule positioning system 200 is [Cx, Cy, Cz, Ch, Cv, Cs], of which [Cx, Cy, Cz] is used as the real-time position information and represents the XYZ coordinates in the world coordinate system of the capsule 201. Furthermore, [Ch, Cv, Cs] is used to represent the attitude information of the capsule 201, which will be described in detail later in the description of the attitude adjustment method of the capsule 201.

[0045] The 5-DOF state data provided by the magnetic control system 100 is represented as [Mx, My, Mz, Mh, Mv], of which the real-time magnet position uses [Mx, My, Mz] to represent the XYZ coordinates of the controlled magnet 10 in the world coordinate system.

[0046] Also, in order to reduce the influence of the attitude of the control magnet 10 when moving the position of the capsule 201, [Mh, Mv] will be mentioned in the following explanation of position adjustment. Here, [Mh, Mv] represent the angle of the orientation of the N pole of the magnetic field direction of the control magnet 10, the horizontal azimuth angle Mh (value range is [-180, +180] degrees) is the included angle between the projection vector of the magnet's magnetization direction vector onto the XY plane and the positive direction of the Y axis, and the vertical tilt angle Mv (value range is [0, +180] degrees) is the included angle between the magnetization direction vector of the control magnet 10 and the positive direction of the Z axis.

[0047] Step 102: Acquire target position information of the capsule 201, and determine a target position range based on the target position information. The target position information can be expressed as [Tx, Ty, Tz]. Since it is not efficient to move exactly to that point, when the capsule 201 arrives within a certain range near the target position information, it can be considered that the capsule 201 has reached the target position.

[0048] Before executing step 103, the control magnet 10 is first moved to an initial position, and then the state of the capsule 201 can be determined and adjusted.

[0049] Moving to the initial position means moving the control magnet 10 to the initial position, and at this initial position, the control magnet 10 and the capsule 201 are on the same straight line perpendicular to the XY plane of the world coordinate system. In other words, at this time, the X and Y coordinates of the control magnet 10 and the capsule 201 are the same. The XY plane here refers to the world coordinate system described above.

[0050] In addition, the control magnet 10 is moved and its magnetization direction is adjusted to vertically upward Mv=0 (or vertically downward Mv=180), so that when the control magnet 10 is directly above the capsule 201, the capsule 201 also maintains a vertically upward orientation. At this time, Cv=0 (Cv=180 in the case of vertically downward orientation).

[0051] Furthermore, in order to avoid the position of the capsule 201 from moving due to the magnetic attraction force during the process of the control magnet 10 moving directly above the capsule 201, the distance in the Z-axis direction between the control magnet 10 and the capsule 201 can be adjusted timely based on the state feedback information of the control system, and the distance can be controlled within a safe distance range.

[0052] Due to the extremely nonlinear and non-uniform spatial distribution characteristics of the magnetic force (see FIG. 5 ), as well as the fact that the control magnet 10 performs non-contact control over a relatively long distance, and in particular that a permanent magnet cannot quickly adjust the magnitude and direction of its magnetic force, it is necessary to first determine that the capsule 201 is in an equilibrium state, and then perform subsequent operations when the forces are balanced.

[0053] Determining and adjusting the state of capsule 201 includes the following steps.

[0054] Obtain the critical distance, where the critical distance is the distance between the capsule 201 and the control magnet 10 when the capsule 201 is suspended in the liquid.

[0055] Based on the real-time magnet position information, the real-time position information and the critical distance, the state information of the capsule 201 is calculated, where the state information includes a bottom sinking state, a floating state on the liquid surface and a ceiling attraction state.

[0056] For the analysis of the forces in the three states, please refer to Figure 6. From left to right in Figure 6, the force situations when the capsule 201 is in the bottom sinking state, the liquid surface floating state, and the ceiling adsorption state are shown, respectively. Here, G is the gravity of the capsule 201, F f is the buoyancy force acting on the capsule 201, F m is the attractive force that the control magnet 10 exerts on the capsule 201, and N is the supporting force that the inner wall of the digestive tract exerts on the capsule 201. For the bottom-sinking state, refer to Fig. 3 or 4. The digestive tract contains an upper wall, a lower wall, and liquid, and in the bottom-sinking state, the capsule 201 is in contact with the lower wall, in the ceiling adsorption state, the capsule 201 is in contact with the upper wall, and in the liquid-floating state, the sum of the attractive force and buoyancy of the control magnet 10 is equal to the gravity of the capsule 201. Moreover, when the attractive force is removed, the capsule 201 enters the bottom-sinking state.

[0057] Here, the step of "obtaining the critical distance" includes: The critical distance is obtained based on a critical distance algorithm or based on measurement data. The critical distance algorithm calculates the distance between the control magnet 10 and the capsule 201 based on the fact that when floating on the liquid surface, the sum of the attractive force between the control magnet 10 and the capsule 201 and the buoyant force acting on the capsule 201 is equal to the gravity of the capsule 201. In terms of a more specific formula, the attractive force that the control magnet 10 exerts on the capsule 201 directly below it can be expressed as follows: Fm (r) = μ0*6Mm / 4π*r 4 Here, M and m are the magnetic moments of the control magnet 10 and the magnet (built-in magnet) built into the capsule 201, respectively, r is the center-to-center distance between the control magnet 10 and the magnet built into the capsule 201, and μ0 is the magnetic permeability of a vacuum.

[0058] The attractive force that the control magnet 10 exerts on the capsule 201 directly below is the gravity G of the capsule 201 and the buoyant force F acting on the capsule 201. f When in equilibrium with F m (Z0) + ρVg = m c g Here, ρ is the density of the liquid medium in which the capsule 201 exists, V is the volume of the capsule 201, g is the gravitational acceleration constant, m c is the mass of capsule 201, and Z0 is the critical distance.

[0059] Combining the above formulas, the formula for calculating the critical distance Z0 is as follows: Z0=(μ0*6Mm / 4π*(m c -ρV)g) 1 / 4 This formula allows the critical distance to be calculated. Combined with the initial position of the control magnet 10 above, the critical distance refers to the height distance in the Z-axis direction, i.e., the critical height.

[0060] In a real environment, the control magnet 10 and capsule 201 are affected by magnetization, and the magnitude of the magnetic moment changes, and the mass and volume of the capsule 201 are affected by changes in its model number. It is more convenient and reliable to experimentally measure Z0 based on the actual type of control magnet 10 and capsule 201.

[0061] The height difference dZ between the center of the control magnet 10 and the capsule 201 is expressed as dZ=Mz-Cz, where Mz is the coordinate value of the control magnet 10 in the Z-axis direction, and Cz is the coordinate value of the capsule 201 in the Z-axis direction.

[0062] Based on the state data of the control magnet 10 and the capsule 201, this height difference can be calculated and obtained in real time. The current state of the capsule 201 is determined through dZ, and dZ>Z0-δ a At this time, the capsule 201 is in a sinking state, and dZ <Z0-δ a At this time, the capsule 201 is in a ceiling adsorption state. Here, the redundancy parameter δ a has a value of 1-2 cm and is used to eliminate noise interference due to positioning errors and peristaltic movements of the digestive tract.

[0063] The target position information also includes a target state. If the state information matches the target state and the orientation of the control magnet 10 is correct, no adjustment is necessary. If the state information does not match the target state, the height of the control magnet 10 is adjusted until the capsule 201 reaches the target state.

[0064] The orientation of the control magnet 10 is adjusted so that the lens end of the capsule 201 faces the specified direction.

[0065] Specifically, the capsule 201 is converted to a bottom-sunk state or a ceiling-attached state by adjusting the distance of dZ, and the control magnet 10 is driven to change its vertical height. If the capsule 201 is currently in a bottom-sunk state and needs to be changed to a ceiling-attached state, the dZ is adjusted to change the dZ <Z0-δ b If the capsule 201 is currently in a ceiling attachment state and needs to be changed to a bottom attachment state, adjust dZ so that dZ>Z0-δ is satisfied. b Make sure to satisfy the following.

[0066] Here, the redundancy parameter δ b takes a value of 3 cm and is used to eliminate positioning errors and noise interference caused by peristaltic movement of the digestive tract, ensure the success rate of executing the control operation, and switch the capsule 201 to the target state.

[0067] Moreover, in the bottom sinking state and the ceiling adsorption state, the capsule 201 relies on the variable support force and friction force of the digestive tract to achieve a balance between the magnetic force of the control magnet 10, the gravity of the capsule 201, and the buoyancy of the liquid. Since the capsule 201 away from the digestive tract wall cannot achieve balance at any position on the Z axis, the capsule 201 may float stably on the liquid surface only near the liquid surface due to the negative feedback mechanism of buoyancy.

[0068] Furthermore, when the target state is the bottom sinking state, the distance between the capsule 201 and the control magnet 10 is controlled to be greater than the sum of the critical distance and the first threshold. The first threshold is adjusted according to the on-site environment. When the capsule 201 needs to sink, the capsule 201 shoots upward from the bottom, so at this time it is necessary to avoid the capsule 201 being pulled up by the control magnet 10, so the distance between the control magnet 10 and the capsule 201 is made as large as possible.

[0069] When the target state is the ceiling adsorption state, the distance between the capsule 201 and the control magnet 10 is controlled to be smaller than the sum of the critical distance and the second threshold. The second threshold is adjusted according to the site environment. When the capsule 201 needs to be adsorbed to the ceiling, the capsule 201 is photographed from above downwards, so at this time it is necessary to prevent the capsule 201 from falling, and therefore the distance between the control magnet 10 and the capsule 201 is made as small as possible.

[0070] In the step of "adjusting the orientation of the control magnet 10 so that the lens end of the capsule 201 faces the specified direction", when the imaging module 80 is at one end of the capsule 201 and the capsule 201 sinks, the imaging module 80 needs to take an image facing upward, and when the capsule 201 is attracted to the ceiling, the imaging module 80 needs to take an image facing downward. Therefore, depending on the current state of the capsule 201, the control magnet 10 adopts different magnetic pole orientations. For example, when the imaging module 80 is at the magnetic pole N end of the capsule 201, the magnetic pole S end of the control magnet 10 faces the capsule 201 in the bottom sinking state, and the magnetic pole N end of the control magnet 10 faces the capsule 201 in the ceiling attracting state.

[0071] Before performing step 103, the following steps may be performed first.

[0072] The motion mode of the control magnet 10 is obtained. The motion mode includes a translation mode and / or a rotation mode. The capsule 201 can move linearly in the translation mode, or can move forward by rolling in the rotation mode. Please refer to FIG. 7 for the translation mode and FIG. 8 for the rotation mode. The translation mode and / or the rotation mode can be selected manually or automatically. In the following, the two situations will be distinguished and discussed.

[0073] <Translational motion> The capsule's position can be moved in an approximate XY plane with a small inclination angle by the control magnet 10 pulling and translating the capsule 201. As described above, the real-time position information of the capsule 201 is known as [Cx, Cy, Cz], and the target position information of the capsule 201 is known as [Tx, Ty, Tz]. Since the position of the capsule 201 in the Z-axis direction cannot be stably and continuously controlled, only the capsule position in the XY plane is subject to control operation. The translational motion is shown in FIG. 7.

[0074] Step 103: Calculate the current moving path of the control magnet 10 according to the real-time position information and the target position information.

[0075] A current offset amount is calculated based on the real-time position information and the target position information, where the current offset amount includes an X-axis difference value in an X-axis direction and a Y-axis difference value in a Y-axis direction in the world coordinate system.

[0076] A first difference value ΔCx in the X-axis direction in the world coordinate system between the real-time position information and the target position information is calculated, and the product of the first difference value and a first correction coefficient αx is set as the X-axis difference value ΔMx. The expression for the first difference value is ΔCx=Tx-Cx, and the expression for the X-axis difference value is ΔMx=αx*ΔCx.

[0077] A second difference value ΔCy in the Y-axis direction in the world coordinate system between the real-time position information and the target position information is calculated, and the product of the second difference value and a second correction coefficient αy is set as the Y-axis difference value ΔMy. The second difference value is expressed as ΔCy=Ty-Cy, and the Y-axis difference value is expressed as ΔMy=αy*ΔCy.

[0078] Here, the value ranges of the first correction coefficient and the second correction coefficient are both between 0 and 1, and the expression is 0<αx, αy<1. For ease of calculation, αx=αy can be set. Generally, if αx, αy=0.7 is selected, the capsule 201 can be stably and efficiently feedback-adjusted to the target position information.

[0079] Step 104: The control magnet 10 is controlled to move along the current movement path.

[0080] When the motion mode of the control magnet 10 is a translation mode, the current movement path translates along the current offset amount.

[0081] <Rotational movement> Rotational mode movement of capsule 201 is typically used in situations where capsule 201 cannot effectively translate. Such situations include, but are not limited to: The control magnet 10 is relatively far from the capsule 201 and cannot provide sufficient magnetic traction force. When the inclination of the digestive tract wall is large and the capsule 201 cannot be effectively pulled and translated. When there are folds or obstacles in the direction of capsule 201's movement that cannot be overcome effectively,

[0082] The rotational motion is shown in FIG. The control magnet 10 rotates in the opposite direction to the capsule 201. That is, when the control magnet 10 rotates counterclockwise, the capsule 201 rotates clockwise. For example, in Fig. 8, in the change of the motion state from Fig. 1 to Fig. 5, the control magnet 10 rotates counterclockwise while moving to the right, and ideally, the capsule 201 performs a pure clockwise sliding and rolling along the lower wall.

[0083] Step 103: Calculate the current moving path of the control magnet 10 according to the real-time position information and the target position information.

[0084] The major axis circumference of the capsule 201 is obtained, where the major axis circumference is the length corresponding to one rotation of the capsule 201 along its major axis.

[0085] Based on the real-time position information and the target position information, a current rotation amount is calculated, where the current rotation amount includes the rotation direction and the number of revolutions of the capsule 201.

[0086] Here, the horizontal azimuth angle Mh=Th due to the horizontal rotation of the control magnet 10. Th is the target horizontal azimuth angle at which the capsule 201 rotates. At this time, the vertical rotation plane of the control magnet 10 coincides with the Th azimuth, and the rotation direction is the angular direction of the horizontal azimuth angle Th.

[0087] Since the shape of capsule 201 can be approximated to a cylinder with spherical ends, the major axis circumference of capsule 201 can be expressed as follows.

[0088] L=2H+(π-2)D Here, H is the major axis length of capsule 201, and D is the diameter of the capsule.

[0089] The position movement in the XY plane after the capsule 201 rotates once can be approximated as follows. Δx=Lsin(π*Th / 180) Δy=Lcos(π*Th / 180) The amount of rotation can be determined based on Δx and Δy calculated by the above formula, and the first difference value ΔCx=Tx-Cx and the second difference value ΔCy=Ty-Cy described above. The number of revolutions in the X-axis and Y-axis directions can be expressed as (Tx-Cx) / Δx and (Tx-Cx) / Δy, respectively.

[0090] Here, the number of revolutions is an integer, and the amount of rotation of the control magnet 10 corresponding to each revolution is 360°. This causes the position of the capsule 201 to move by a number of circumferential lengths of the major axis of the capsule 201, and maintains the original orientation of the capsule 201. In other words, the imaging module 80 still faces in the original direction.

[0091] In order to reduce the lateral rolling caused by the asymmetry of the capsule's center of gravity being offset from the axis when the capsule 201 rotates, the control magnet 10 is moved forward by one capsule 201 major axis circumferential distance L in the direction of rotation to provide an induced magnetic attraction force. The induced magnetic attraction force acts along the expected direction of rotation and is perpendicular to the lateral rolling component force of the capsule 201, and the resultant force of both points near the target direction. In addition, if a slight lateral rolling occurs, the induced magnetic attraction force provides a negative feedback component force to weaken the effect of the lateral force moment of the capsule 201 and induce the capsule 201 to rotate in the expected direction, so that it is positioned almost directly below the control magnet 10 after one rotation.

[0092] Step 104: The control magnet 10 is controlled to move along the current movement path.

[0093] When the motion type of the control magnet 10 is a rotation type, the current movement path is a motion of rotating the same number of revolutions along the rotation direction.

[0094] Also, when the motion mode of the control magnetic body 10 is a translational mode and the capsule 201 does not move, the motion mode of the control magnetic body 10 is switched to a rotational mode.

[0095] A maximum number of correction cycles (e.g., 5 or less corrections) is set each time the control magnet 10 drives the motion of the capsule 201 in a translational manner. If the upper limit of the number of corrections is reached but the threshold condition is still not satisfied, the motion mode of the control magnet 10 is switched to drive the motion of the capsule 201 in a rotational manner.

[0096] Since the frictional force corresponding to rotation is smaller than the frictional force during translation, and in particular is smaller than the static frictional force when the capsule 201 is not moving, if the capsule 201 cannot be moved effectively using the translational motion method, the motion method is switched to rotational motion.

[0097] Step 105: Determine whether the real-time position information is within the target position range. If the real-time position information is outside the target position range until the control magnet 10 stops moving, repeat steps 103 and 104 "calculate a current moving path of the control magnet 10 based on the real-time position information and the target position information, and control the control magnet 10 to move along the current moving path" until the real-time position information is within the target position range.

[0098] Each time the motion operation of the capsule 201 is executed, the current position [Cx, Cy, Cz] of the capsule 201 is updated, and the arrival of the capsule 201 within the target position range on the XY plane with the target position [Tx, Ty, Tz] is calculated. If the capsule 201 has not reached within the target position range, the execution of the translation and / or rotation operation of the capsule 201 is continuously repeated. This is continued until the capsule 201 is positioned within the target position range, and the capsule position control task is successfully executed.

[0099] The target position range is within a predetermined distance dist th1 contains, dist th1 Generally, a value of 5-10 mm is used to achieve a good balance between control accuracy and control efficiency.

[0100] Step 105 further includes calculating a distance dist1 between the real-time position information and the projection of the target position information onto the XY plane of the world coordinate system.

[0101] The distance dist1 is calculated as follows.

number

number

number

[0102] The distance is equal to or less than the predetermined distance, i.e., dist1≦dist th1 If so, the real-time location information is within the target location range.

[0103] The distance is greater than the predetermined distance, i.e., dist1>dist th1 If so, the real-time location information is outside the target location range.

[0104] In addition, by setting the range of values ​​of the first correction coefficient αx and the second correction coefficient αy between 0 and 1, the occurrence of vibration phenomena can be avoided and excessive movement of the capsule 201 can be prevented. For example, in FIG. 7, the capsule 201 is prevented from moving to the right of point T, and the problem of always being insufficiently corrected can be avoided. 0<αx, αy<1 corresponds to adding a damping effect, which ensures the damping of the vibration effect and ensures convergence to the target. In an experiment using the method of the present application, the capsule 201 can generally be moved to the target position by repeating the above steps twice, i.e., by moving the control magnet 10 twice.

[0105] Step 106: If the real-time position information is within the target position range, adjust the control magnet 10 and the capsule 201 so that they are in the same vertical direction, i.e., on the same straight line perpendicular to the XY plane of the world coordinate system, where [Mx, My]=[Cx, Cy].

[0106] In the third diagram of FIG. 7, when the capsule 201 moves to the target position T, the control magnet 10 may not be in the same vertical direction as the capsule 201. To facilitate subsequent attitude adjustments, the attitude adjustment of the capsule 201 is started from a fixed position, which makes it convenient to calculate the attitude position. Therefore, when the capsule 201 reaches the adjustment position, the control magnet 10 is adjusted to be in the same vertical direction as the capsule 201 (as shown in FIG. 3 or FIG. 4 of FIG. 7). This is the ideal attitude of the capsule 201 and the control magnet 10 when the capsule 201 moves to the target position.

[0107] At this time, the magnetization direction is adjusted to vertical upward Mv=0 (or vertical downward Mv=180) so that when the control magnet 10 is directly above the capsule 201, the capsule 201 also maintains a vertical upward orientation. At this time, Cv=0 (Cv=180 in the case of vertical downward orientation). In other words, the control magnet 10 is directly above and / or directly below the capsule 201.

[0108] Also, when the real-time magnet position information and the distance corresponding to the real-time position information are greater than the safe distance, the control magnet 10 and capsule 201 are controlled to be on the same straight line perpendicular to the XY plane of the world coordinate system.

[0109] After the control magnet 10 exceeds the effective control range of the capsule 201, the driving magnetic force is rapidly attenuated. At this time, the control magnet 10 is pulled back to directly above the capsule 201, and the position adjustment operation is resumed. If necessary, the distance between the control magnet 10 and the capsule 201 needs to be adjusted to an appropriate range to provide a sufficient driving magnetic force.

[0110] After the positional movement of the capsule 201 is completed, the attitude angle of the orientation of the capsule 201 is adjusted so that the lens end of the capsule 201 faces a specific direction.

[0111] 2, 4 and 9 in combination, a method for adjusting the attitude of the capsule 201 will be discussed below. The method includes the following steps:

[0112] Step 201: Continuously obtain real-time attitude information of the capsule 201.

[0113] At the same time, it continuously obtains real-time magnet attitude information of the control magnet 10. Here, the real-time magnet attitude information, the real-time attitude information, and target attitude information (to be described later) are all located in the same world coordinate system.

[0114] The 6-DOF state data provided by the capsule positioning system 200 is [Cx, Cy, Cz, Ch, Cv, Cs]. Here, the attitude angle of the orientation of the capsule 201 is described by the state parameters [Ch, Cv] in spherical coordinate format, where Cv is the vertical tilt angle and Ch is the horizontal azimuth angle. [Ch, Cv] represents the angle of the orientation of the head (lens end) of the capsule 201. The horizontal azimuth angle Ch (value range is [-180, +180] degrees) is the included angle between the projection vector of the orientation of the head of the capsule 201 onto the XY plane and the positive direction of the Y axis, and increases clockwise (Ch = 0 when in the positive Y axis direction, Ch = 90 when in the positive X axis direction, Ch = ±180 when in the negative Y axis direction, and Ch = -90 when in the negative X axis direction). The vertical tilt angle Cv (value range is [0, +180] degrees) is the included angle between the orientation of the head of the capsule 201 and the positive direction of the Z axis.

[0115] Cs is the rotation angle of the capsule 201. When the image captured by the lens of the capsule 201 is upright, the rotation angle of the capsule 201 is Cs=0 and increases clockwise. The orientation angle adjustment of this embodiment does not affect the rotation angle Cs of the capsule 201.

[0116] Step 202: The desired attitude information [Th, Tv] of the capsule 201 is acquired, and the desired attitude range is calculated based on the desired attitude information.

[0117] The target posture range includes a predetermined angle difference dist th2includes a given angle difference dist th2 Generally, a value of 5-10 degrees can be used to achieve a good balance between control precision and control efficiency.

[0118] Before starting step 203 or step 204, the control magnet 10 is controlled to rotate to an initial posture, in which the magnetization direction N pole of the control magnet 10 is parallel or perpendicular to the Z axis of the world coordinate system in the initial posture.

[0119] 3, a method is adopted in which the magnetization direction of the control magnet 10, that is, the north pole, is made parallel to the Z axis. This is the posture before the start of the posture adjustment described above.

[0120] Step 203: Calculate the current rotation path of the control magnet 10 based on the target attitude information.

[0121] The current rotation path includes a current rotation amount, and the current rotation amount includes a first angle difference and a second angle difference. Referring to FIG. 9, the attitude adjustment is decomposed into two angle adjustments.

[0122] The initial posture forms a first included angle C v The target attitude information has a second included angle T v The difference between the second included angle and the first included angle is ΔCv=T v -C v The first angle difference ΔMv is the product of this difference value and a third correction coefficient αv. The expression is ΔMv=αv*ΔCv.

[0123] The initial posture is on the XY plane and forms a third angle C h The target attitude information forms a fourth included angle T h The difference between the fourth and third angles is ΔCh=eff_ang(T h -C h ), and the second angle difference ΔMh is the product of this difference value and the fourth correction coefficient αh. The expression is ΔMh=αh*ΔCh.

[0124] Here, an equivalent angle change function is introduced to ensure that the angle is always adjusted along a short arc path, thereby improving the efficiency of the angle adjustment. The equivalent angle change function is defined as follows:

number

[0125] The third correction coefficient αv and the fourth correction coefficient αh each have a value range between 0 and 1, and are expressed as 0<αv, αh<1. For ease of calculation, αv=αh can be set. In general, if αh, αv=0.8 is selected, the capsule 201 can be stably and efficiently feedback-adjusted to the target attitude information.

[0126] Step 204: The control magnet 10 is controlled to move along the current rotation path.

[0127] Step 205: Determine whether the real-time attitude information is within the target attitude range. If the real-time attitude information is outside the target attitude range until the control magnet 10 stops moving, repeat steps 203 and 204 "calculate the target attitude range and the current rotation path of the control magnet 10 based on the target attitude information, and control the control magnet 10 to move along the current rotation path" until the real-time attitude information is within the target attitude range. Then, execute step 206 "end the adjustment of the control magnet 10".

[0128] It further includes the following steps:

[0129] A first unit vector corresponding to the real-time attitude information is calculated.

[0130] A second unit vector corresponding to the target attitude information is calculated.

[0131] A real-time angular difference between the first unit vector and the second unit vector is calculated.

[0132] Here, the unit sphere projection vector

number

[0133] pz=cos(π*Cv / 180) px=sin(π*Cv / 180)*sin(π*Cv / 180) py=sin(π*Cv / 180)*cos(π*Cv / 180) By substituting the real-time attitude information and the target attitude information into the above formula, the first unit vector and the second unit vector can be calculated. The calculation formula for the real-time angle difference dist2 is as follows:

[0134]

number

[0135] The real-time angle difference is greater than the predetermined angle difference, i.e., dist2>dist th2 If , the real-time attitude information is outside the target attitude range.

[0136] Every time the angle adjustment operation of the capsule 201 is performed, the real-time attitude information [Ch, Cv] of the capsule 201 is updated, and it is calculated whether the real-time attitude information is within the target attitude range based on the above-mentioned real-time angle difference. If the condition is not met, the angle adjustment operation of the capsule 201 is continuously and repeatedly performed. If the condition is met, the angle adjustment task of the capsule 201 is terminated, and the capsule attitude control task is successfully executed.

[0137] Also, for the same reason as the first and second correction coefficients in the position adjustment described above, 0<αv, αh<1 can avoid the occurrence of vibration phenomena and prevent excessive movement of the capsule 201. For example, in FIG. 9, the capsule 201 is prevented from moving beyond point P2, and the problem of always being insufficiently corrected is avoided. αv, αh are equivalent to adding a damping effect, ensuring the damping of the vibration effect and ensuring convergence to the target. In an experiment using the method of the present application, the capsule 201 can generally be moved to the target posture by repeating the above steps twice, i.e., by moving the control magnet 10 twice.

[0138] Through the above steps, combined with programmed logic control, the control path of capsule 201 is converted into target state control at multiple key node positions, and after moving to the key nodes, pictures of the inside of the body are taken, thereby realizing a highly intelligent automatic scanning inspection function.

[0139] This quantitative closed-loop control method of the magnetically controlled capsule system 1000 can quantitatively control the motion process of the capsule 201, and allow the capsule 201 to accurately reach a target position and / or a target posture. In addition, through the quantitative closed-loop control method, the momentum of the capsule 201 can be precisely controlled. Furthermore, this method is applied to the capsule 201 motion scenario of permanent magnet control, which avoids the problem of slow operation caused by the slow speed and state switching of the permanent magnet, and the robustness of the control process is high. In addition, this method can realize complex control logic and perform derivative gastrointestinal examination applications, providing convenience for the automation, intelligent examination and derivative applications of the magnetically controlled capsule system 1000.

[0140] In one embodiment, a magnetically controlled capsule system 1000 is provided. The magnetically controlled capsule system 1000 can include a first acquisition module, a first target acquisition module, a first calculation module, a first control module, and a first judgment module. The specific functions of each module are as follows:

[0141] First acquisition module: used for continuously acquiring real-time location information of the capsule 201.

[0142] First target acquisition module: used for acquiring target position information of the capsule 201 and determining a target position range according to the target position information.

[0143] A first calculation module: used for calculating the current moving path of the control magnet 10 according to the real-time position information and the target position information.

[0144] First control module: used to control the control magnet 10 to move along the current movement path.

[0145] First judgment module: used to determine whether the real-time position information is within the target position range. When the control magnet 10 stops moving and the real-time position information is outside the target position range, the first calculation module calculates the current moving path of the control magnet 10 based on the real-time position information and the target position information, and the first control module controls the control magnet 10 to move along the current moving path, and repeats this until the real-time position information is within the target position range.

[0146] In one embodiment, the magnetic control capsule system 1000 of this embodiment further includes a magnet position acquisition module, which is used to continuously acquire real-time magnet position information of the control magnet 10. Here, the real-time magnet position information, the real-time position information, and the target position information are all located in the same world coordinate system.

[0147] In one embodiment, the magnetically controlled capsule system 1000 of the present embodiment further includes a critical distance acquisition module and a state calculation module, where the critical distance acquisition module acquires a critical distance, where the critical distance is the distance between the capsule 201 and the control magnet 10 when the capsule 201 is suspended in liquid.

[0148] The state calculation module calculates state information of the capsule 201 based on the real-time magnet position information, the real-time position information, and the critical distance, where the state information includes a bottom sinking state, a floating state, and a ceiling attraction state.

[0149] In one embodiment, the magnetically controlled capsule system 1000 of this embodiment further includes a height adjustment module and a direction adjustment module. The target position information includes a target state. If the state information does not match the target state, the height adjustment module adjusts the height of the controlled magnet 10 until the capsule 201 is in the target state.

[0150] The orientation adjustment module adjusts the orientation of the control magnet 10 so that the endoscope of the capsule 201 faces a specified direction.

[0151] In one embodiment, when the target state is a bottom state, the height adjustment module controls the distance between the capsule 201 and the control magnet 10 to be greater than the sum of the critical distance and a first threshold value.

[0152] When the target state is the ceiling attraction state, the height adjustment module controls the distance between the capsule 201 and the control magnet 10 to be smaller than the sum of the critical distance and a second threshold value.

[0153] In one embodiment, the first control module controls the control magnet 10 to move to an initial position, where the control magnet 10 and the capsule 201 are on a straight line perpendicular to the XY plane of the world coordinate system at the initial position.

[0154] In one embodiment, the magnetic control capsule system 1000 of this embodiment further includes a motion manner acquisition module to acquire the motion manner of the control magnet 10. The motion manner includes a translation manner and / or a rotation manner.

[0155] In one embodiment, a first calculation module calculates a current offset amount based on the real-time position information and the target position information.

[0156] In one embodiment, the first calculation module calculates a first difference value in the X-axis direction in the world coordinate system between the real-time position information and the target position information, and the product of the first difference value and a first correction coefficient is the X-axis difference value.

[0157] The first calculation module calculates a second difference value in a Y-axis direction in the world coordinate system between the real-time position information and the target position information, and the product of the second difference value and a second correction coefficient is the Y-axis difference value.

[0158] In one embodiment, the first acquisition module acquires a major axis circumference of the capsule 201, where the major axis circumference corresponds to one rotation of the capsule 201 along its major axis.

[0159] The first calculation module calculates a current rotation amount according to the real-time position information and the target position information, where the current rotation amount includes the number of revolutions and the rotation direction of the capsule 201.

[0160] In one embodiment, the number of rotational revolutions is an integer number, and each revolution corresponds to a rotation of the control magnet 10 of 360°.

[0161] In one embodiment, the target position range includes a predetermined distance. A first calculation module calculates a distance between the real-time position information and the projection of the target position information on an XY plane of the world coordinate system.

[0162] In one embodiment, when the real-time position information is within the target position range, the first control module controls the control magnet 10 and the capsule 201 to be aligned in a straight line perpendicular to the XY plane of the world coordinate system.

[0163] In one embodiment, if the real-time magnet position information and the distance corresponding to the real-time position information are greater than a safety distance, the first control module controls the controlled magnet 10 and capsule 201 to be collinear and perpendicular to the XY plane of the world coordinate system.

[0164] In one embodiment, a magnetically controlled capsule system 1000 is provided. The magnetically controlled capsule system 1000 can include a second acquisition module, a second target acquisition module, a second calculation module, a second control module, and a second judgment module. The specific functions of each module are as follows:

[0165] Second acquisition module: used for continuously acquiring real-time attitude information of the capsule 201.

[0166] Second target acquisition module: used to acquire target attitude information of the capsule 201.

[0167] A second calculation module is used to determine the target attitude range and the current rotation path of the control magnet 10 according to the target attitude information.

[0168] A second control module: used to control the control magnet 10 to move along the current rotation path.

[0169] A second judgment module is used to determine whether the real-time position information is within the target position range. If the control magnet 10 stops moving and the real-time attitude information is outside the target attitude range, the second calculation module calculates the target attitude range and the current rotation path of the control magnet 10 based on the target attitude information, and the second control module controls the control magnet 10 to move along the current rotation path, and the process is repeated until the real-time attitude information is within the target attitude range.

[0170] In one embodiment, the magnetic control capsule system 1000 further includes a magnet attitude acquisition module that continuously acquires real-time magnet attitude information of the control magnet 10. Here, the real-time magnet attitude information, the real-time attitude information, and the target attitude information are all located in the same world coordinate system.

[0171] In one embodiment, the second control module controls the control magnet 10 to rotate to an initial attitude, where the magnetization direction of the control magnet 10 is oriented parallel or perpendicular to the Z-axis of the world coordinate system in the initial attitude.

[0172] In one embodiment, a second calculation module calculates a first unit vector corresponding to the real-time attitude information, a second calculation module calculates a second unit vector corresponding to the target attitude information, and a second calculation module calculates a real-time angle difference between the first unit vector and the second unit vector.

[0173] The magnetic control capsule system 1000 may further include a computing device such as a computer, a laptop, a handheld computer, a cloud server, etc. It may further include, but is not limited to, a processing module 40 and a storage module 30. As can be understood by those skilled in the art, the schematic diagram is only an example of the magnetic control capsule system 1000 and does not limit the terminal device of the magnetic control capsule system 1000. More or fewer components may be included than shown, or certain components may be combined or different components may be included. For example, the magnetic control capsule system 1000 may include an input / output device, a network access device, a bus, etc.

[0174] For details not disclosed in the magnetically controlled capsule system 1000 according to the embodiment of the present invention, please refer to the details disclosed in the quantitative closed-loop control method of the magnetically controlled capsule system 1000 according to the embodiment of the present invention.

[0175] The magnetically controlled capsule system 1000 of the present invention can quantitatively control the motion process of the capsule 201 and allow the capsule 201 to accurately reach a target position and / or target posture. In addition, the momentum of the capsule 201 can be precisely controlled through the quantitative closed-loop control method. Furthermore, this method has made a remarkable advance in the motion control of the capsule 201 controlled by the permanent magnet, avoiding the problem of slow operation caused by the slow speed and state switching of the permanent magnet, and the robustness of the control process is high. In addition, this method can realize complex control logic and perform derivative gastrointestinal examination applications, providing convenience for the automation, intelligent examination and derivative applications of the magnetically controlled capsule system 1000.

[0176] 10 shows a module configuration diagram of a magnetically controlled capsule system 1000 provided by an embodiment of the present invention. The magnetically controlled capsule system 1000 includes the magnetic control system 100, the capsule positioning system 200, the control magnet 10 and the capsule 201, the processing module 40, the storage module 30, each module in the capsule 201, and a computer program stored in the storage module 30 and executable on the processing module 40, such as the quantitative closed-loop control method program. The processing module 40 executes the computer program to realize the steps of each control method embodiment as shown in FIG. 1 and FIG. 2.

[0177] The magnetic source of the controlled magnet 10 is controlled to move to its position by a servo motor and a transmission mechanism, and the transmission data of the servo motor is obtained through the data interface of the magnetic control system 100, and the raw data of the position and attitude angle of the controlled magnet 10 is obtained through a fixed proportional conversion formula. The accuracy of the position data is 1 mm, and the accuracy of the angle data is 1 degree.

[0178] The control magnet 10 is fixedly connected to the transmission mechanism, and the control magnet 10 can be accurately moved to a target position in the world coordinate system by converting the drive amount of the servo motor that drives the movement of the control magnet 10 through photoelectric switches at several positions (for example, zero-point calibration at special vertical and horizontal angles). At this time, there is no need to measure the attitude angle of the control magnet 10 according to the magnetic field direction on site.

[0179] The capsule 201 may include a magnetic sensor 50, an acceleration sensor 60, a signal transmission module 70, a magnetic component (not shown), and an imaging module 80. As described above, the magnetic sensor 50, the acceleration sensor 60, and the magnetic component work in conjunction with the internal three-axis magnetic sensor 50, the three-axis acceleration sensor 60, the IMU sensor, and a plurality of external magnetic positioning devices to calculate the position and attitude of the capsule 201, and act on the magnetic component by the control magnet 10 to move the capsule 201. The signal transmission module 70 transfers information to the external processing module 40 or server, and after the external moves the wireless capsule 201 to a specified position, the imaging module 80 takes pictures of the inside of the human body 400 and transmits them to the outside via the signal output module, completing the in-body photography.

[0180] The control magnet 10 is appropriately raised to weaken the attraction force on the capsule 201, or pulled down to strengthen the attraction force on the capsule 201, thereby switching the capsule 201 to different states such as sinking to the bottom, floating on the liquid surface, and being sucked to the top.

[0181] The magnetic control system 100 may also include a signal transmission module 20 and a communication bus 90. The signal transmission module 20 is for transmitting data to the processing module 40 or a server, and the signal transmission module 70 and the signal transmission module 20 can transmit data in a wireless connection format such as Bluetooth, Wi-Fi, Zigbee, etc. The communication bus 90 is for establishing a connection between the control magnet 10, the signal transmission module 20, the processing module 40, and the storage module 30, and the communication bus 90 includes a path to transmit information between the control magnet 10, the signal transmission module 20, the processing module 40, and the storage module 30.

[0182] The present invention further provides an electronic device, which includes a storage module 30 and a processing module 40, and can realize the steps of the quantitative closed-loop control method described above when the processing module 40 runs a computer program, i.e., realize the steps of any technical solution of the control method.

[0183] This electronic device can be configured as an integrated part of the magnetically controlled capsule system 1000, or as part of a local terminal device or a cloud server.

[0184] The processing module 40 is a central processing unit or other general-purpose processor, which may be a microprocessor or other general processor. The processing module 40 is a control center of the magnetic control capsule system 1000, and connects each part of the magnetic control capsule system 1000 using various interfaces and lines.

[0185] The memory module 30 is used to store computer programs and / or modules, and the processing module 40 realizes various functions of the magnetic control capsule system 1000 by executing the computer programs and / or modules stored in the memory module 30 or by calling up the data stored in the memory module 30.

[0186] For example, a computer program is divided into one or more modules / units, which are stored in the storage module 30 and executed by the processing module 40 to assist in the completion of the present invention. The one or more modules / units are composed of a series of computer program instructions for realizing a specific function, and these instructions are used to explain the execution process of the program in the control method of the magnetic control capsule system 1000.

[0187] Furthermore, an embodiment of the present invention provides a readable storage medium storing a computer program, which, when executed by processing module 40, realizes the steps of the control method for magnetically controlled capsule system 1000 described above, that is, can implement the steps of any technical solution of the control method for magnetically controlled capsule system 1000 described above.

[0188] When the modules integrated in the magnetically controlled capsule system 1000 are sold or used as independent products as software functional units, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the method of the embodiments of the present invention can be completed by providing instructions to related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when this program is executed by a processor, the steps of each of the method embodiments can be realized.

[0189] It should be understood that, although the description is based on the embodiments, each embodiment does not include only a single technical solution, but is merely a form for explanation, and a person skilled in the art should interpret the specification as a whole, and the technical solutions of each embodiment can be appropriately combined to form other embodiments that are understandable to a person skilled in the art.

[0190] The above detailed description is merely a specific description of the possible embodiments of the present invention, and does not limit the scope of protection of the present invention. As long as it does not deviate from the spirit of the present invention, equivalent embodiments and modifications are included in the scope of protection of the present invention.

Claims

1. 1. A method for quantitative closed-loop control of a magnetically controlled capsule system, comprising: continuously acquiring real-time location information of the capsule; acquiring target position information of the capsule; determining a target position range based on the target position information; calculating a current moving path of a control magnet based on the real-time position information and the target position information; controlling the control magnet to move along the current movement path; determining whether the real-time position information is within the target range, and if the real-time position information is outside the target position range until the control magnet stops moving, repeating the step of "calculating a current movement path of the control magnet based on the real-time position information and the target position information, and controlling the control magnet to move along the current movement path" until the real-time position information is within the target position range; A method for quantitative closed-loop control of a magnetically controlled capsule system, comprising:

2. continuously acquiring real-time magnet position information of the controlled magnet; the real-time magnet position information, the real-time position information, and the target position information are all located in the same world coordinate system; 2. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 1.

3. obtaining a critical distance; calculating state information of the capsule based on the real-time magnet position information, the real-time position information and the critical distance; Further comprising: the critical distance being the distance between the capsule and the control magnet when the capsule is suspended in liquid; The state information includes a bottom sinking state, a liquid surface floating state, and a ceiling adsorption state; 3. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 2.

4. the target position information includes a target state; if the state information does not match a target state, adjusting the height of the control magnet until the capsule is in the target state; adjusting the direction of the control magnet so that an endoscope of the capsule faces a specified direction; The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 3 , further comprising:

5. When the target state is a bottom state, the distance between the capsule and the control magnet is controlled to be greater than the sum of the critical distance and a first threshold value; When the target state is a ceiling attraction state, the distance between the capsule and the control magnet is controlled to be smaller than the sum of the critical distance and a second threshold value.

5. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 4.

6. The step of obtaining the critical distance includes: obtaining the critical distance based on a critical distance algorithm or based on measurement data; The critical distance algorithm calculates the distance between the control magnet and the capsule based on the fact that the sum of the attractive force between the control magnet and the capsule and the buoyant force acting on the capsule is equal to the gravity of the capsule in a floating state on the liquid surface.

4. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 3.

7. The control magnet may further include a step of controlling the control magnet to move to an initial position; At the initial position, the control magnet and the capsule are on the same straight line perpendicular to the XY plane of the world coordinate system.

3. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 2.

8. obtaining a motion scheme of the control magnet; When the motion mode of the control magnet is a translational mode and the capsule does not move, switching the motion mode of the control magnet to a rotational mode; Further comprising: The movement mode includes a translation mode and / or a rotation mode.

3. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 2.

9. The step of calculating a current moving path of the control magnet based on the real-time position information and the target position information includes: calculating a current offset amount based on the real-time position information and the target position information; calculating a first difference value in an X-axis direction in the world coordinate system between the real-time position information and the target position information, and setting a product of the first difference value and a first correction coefficient as an X-axis difference value; calculating a second difference value in a Y-axis direction in the world coordinate system between the real-time position information and the target position information, and setting a product of the second difference value and a second correction coefficient as a Y-axis difference value; If the motion mode of the control magnet is a translation mode, the current moving path is translated along the current offset amount; Including, the current offset amount includes the X-axis difference value in the X-axis direction and the Y-axis difference value in the Y-axis direction in the world coordinate system, 9. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 8.

10. The step of calculating a current moving path of the control magnet based on the real-time position information and the target position information includes: obtaining a major axis circumference of the capsule; calculating a current rotation amount based on the real-time position information and the target position information; If the motion mode of the control magnet is a rotation mode, the current moving path is rotated along the rotation direction by the number of rotation revolutions; Including, the major axis circumference corresponds to one rotation of the capsule along its major axis; The current rotation amount includes a number of revolutions and a direction of rotation of the capsule.

9. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 8.

11. the target position range includes a predetermined distance; Calculating a distance between the real-time position information and the target position information projected on an XY plane of the world coordinate system; determining that the real-time location information is within the target location range if the distance is equal to or less than the predetermined distance; determining that the real-time location information is outside the target location range if the distance is greater than the predetermined distance; The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 2 , further comprising:

12. If the real-time position information is within the target position range, or if the distance between the real-time magnet position information and the real-time position information is greater than a safety distance, The control magnet and the capsule are controlled to be aligned in a line perpendicular to an XY plane of the world coordinate system.

3. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 2.

13. 1. A method for quantitative closed-loop control of a magnetically controlled capsule system, comprising: continuously acquiring real-time attitude information of the capsule; acquiring target attitude information of the capsule; calculating a target attitude range and a current rotation path of a control magnet based on the target attitude information; controlling the control magnet to move along the current rotational path; determining whether the real-time position information is within the target range, and if the real-time attitude information is outside the target attitude range until the control magnet stops moving, repeating the step of "calculating a target attitude range and a current rotation path of the control magnet based on the target attitude information, and controlling the control magnet to move along the current rotation path" until the real-time attitude information is within the target attitude range; A method for quantitative closed-loop control of a magnetically controlled capsule system, comprising:

14. continuously acquiring real-time magnet attitude information of the control magnet; the real-time magnet attitude information, the real-time attitude information, and the target attitude information are all located in the same world coordinate system; 14. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 13.

15. the current rotation path includes a current rotation amount, and the current rotation amount includes a first angular difference and a second angular difference; The method further includes controlling the control magnet to rotate to an initial attitude; the initial attitude forms a first angle with a Z-axis positive direction, the target attitude information forms a second angle with the Z-axis positive direction, the first angle difference is a product of a difference value between the second angle and the first angle and a third correction coefficient, the initial attitude forms a third angle with a Y-axis positive direction on an XY plane, the target attitude information forms a fourth angle with the Y-axis positive direction on an XY plane, and the second angle difference is a product of a difference value between the fourth angle and the third angle and a fourth correction coefficient.

15. The method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 14.

16. the target attitude range includes a predetermined angle difference, calculating a first unit vector corresponding to the real-time attitude information; calculating a second unit vector corresponding to the target attitude information; calculating a real-time angular difference between the first unit vector and the second unit vector; determining that the real-time attitude information is within the target attitude range when the real-time angle difference is equal to or smaller than the predetermined angle difference; determining that the real-time attitude information is outside the target attitude range when the real-time angle difference is greater than the predetermined angle difference; 15. The method for quantitative closed-loop control of a magnetically controlled capsule system as defined in claim 14, further comprising:

17. A magnetically controlled capsule system, comprising: a first acquisition module for continuously acquiring real-time location information of the capsule; a first target acquisition module for acquiring target position information of the capsule and determining a target position range based on the target position information; a first calculation module for calculating a current moving path of a control magnet according to the real-time position information and the target position information; a first control module for controlling the control magnet to move along the current movement path; a first determination module for determining whether the real-time location information is within the target range; A magnetic controlled capsule system, in which, when the controlled magnet stops moving and the real-time position information is outside the target position range, "a first calculation module calculates a current movement path of the controlled magnet based on the real-time position information and the target position information, and a first control module controls the controlled magnet to move along the current movement path" is repeated until the real-time position information falls within the target position range.

18. A magnetically controlled capsule system, comprising: a second acquisition module for continuously acquiring real-time attitude information of the capsule; a second target acquisition module for acquiring target attitude information of the capsule; a second calculation module for determining a target attitude range and a current rotation path of a control magnet based on the target attitude information; a second control module for controlling the control magnet to move along the current rotational path; a second determination module for determining whether the real-time location information is within the target range; When the controlled magnet stops moving and the real-time attitude information is outside the target attitude range, "the second calculation module calculates the target attitude range and the current rotation path of the controlled magnet based on the target attitude information, and the second control module controls the controlled magnet to move along the current rotation path" is repeated until the real-time attitude information is within the target attitude range. Magnetically controlled capsule system.

19. 1. An electronic device comprising: A storage module and a processing module, the storage module stores a computer program executable on the processing module; When the processing module executes the computer program, the steps of the method for quantitatively controlling a magnetically controlled capsule system according to claim 1 are realized. Electronic devices.

20. A readable storage medium storing a computer program, When the computer program is executed by a processing module, the computer program implements the steps of the method for quantitative closed-loop control of a magnetically controlled capsule system according to claim 1. A readable storage medium.

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