Control method and device for magnetically controlled capsule system

Abstract

The present invention discloses a control method and device for a magnetically controlled capsule system, which moves a control magnet directly above the capsule endoscope when the capsule endoscope is located on the lower wall, and moves the control magnet directly above the capsule endoscope when the capsule endoscope is located on the upper wall, and then controls the vertical movement of the control magnet to a specified position. This control method can efficiently and accurately control the movement of the capsule endoscope within the digestive tract, and achieve quantitative position changes and posture adjustments of the capsule endoscope.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority from a Chinese patent application filed on August 8, 2022, with application number 202210942736.5, and entitled "Control method and device for magnetically controlled capsule system," the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the medical device technical field, and more particularly to a control method and device for a magnetically controlled capsule system. [Background technology]

[0003] Positioning technologies for internal devices, such as wireless capsule endoscopes and invasive medical devices, are attracting increasing attention, and magnetically controlled capsule systems use magnetic force to move capsule endoscopes within the digestive tract.

[0004] In the process of realizing the present invention, the inventors have found that the prior art has at least the following problems.

[0005] (1) The interior of the gastrointestinal tract has an irregular shape and a cavity structure with undulating deformations. Some anatomical regions (e.g., the gastric fundus, gastric antrum, and gastric angle) have obstacles such as deep depressions and steep slopes. Furthermore, the surface of the gastrointestinal tract that has not been sufficiently expanded by air or water injection may exhibit deep wrinkles. These regions create obstacles for the capsule endoscope when it moves within the gastrointestinal tract, making it difficult to precisely control the capsule endoscope at these locations and in the surrounding areas.

[0006] (2) The capsule endoscope may need to capture images of the upper and lower regions of the digestive tract, which means that the capsule endoscope needs to frequently change position and adjust the imaging direction, placing higher requirements on the capsule endoscope's movement trajectory.

[0007] (3) When moving the capsule endoscope to capture images in these areas, the patient's position must be changed multiple times, for example, by changing the position of the capsule endoscope from supine to lateral position. This can cause some discomfort to the patient and can lead to missed scans or duplicate images, affecting the quality and efficiency of the examination. Alternatively, the procedure must be completed by an experienced physician, who uses the built-in lens to capture images of the gastrointestinal lining, confirms the position and orientation of the capsule endoscope, and then relies on experience to move the capsule endoscope to the next position using an external control magnet. However, this does not allow for precise and quantitative control of the capsule endoscope's movement, capture, and crossing of the above-mentioned obstructed areas. Summary of the Invention

[0008] SUMMARY OF THE INVENTION In order to solve at least one of the problems of the prior art described above, an object of the present invention is to provide a control method and device for a magnetically controlled capsule system that efficiently controls the movement of a capsule endoscope.

[0009] To achieve the above object of the present invention, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, which includes a capsule endoscope and a control magnet, and the capsule endoscope is located in a detection area having an upper wall and a lower wall. a step of acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the capsule endoscope can be pulled up by the control magnet; When the capsule endoscope is positioned on the lower wall, moving the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is controlled to be Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall. a step of executing a first jump process; and, When the capsule endoscope is positioned on the upper wall, moving the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is controlled to be Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall. and a step of executing a second jump process.

[0010] As a further refinement of the present invention, the critical height distance is:

number

[0011] In a further refinement of the present invention, to obtain the critical height distance, The control magnet is moved directly above the capsule endoscope and is relatively far away from the capsule endoscope to prevent the capsule endoscope from being pulled up; rotating the control magnet to a vertical position; moving the control magnet vertically toward the capsule endoscope; The height difference between the capsule endoscope and the control magnet at the time when the capsule endoscope begins to separate from the lower wall is recorded, and this height difference is defined as the critical height distance.

[0012] In a further refinement of the invention, the first jump process comprises: moving the control magnet directly above the capsule endoscope; Controlling the vertical coordinate of the control magnet to Mz=Z0+δ+Cz; Rotating the control magnet to adjust the imaging direction of the capsule endoscope to a target direction; The vertical coordinate of the control magnet is controlled to be Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall.

[0013] As a further improvement of the present invention, the second jump process comprises: moving the control magnet directly above the capsule endoscope; Controlling the vertical coordinate of the control magnet to Mz=Z0-δ+Cz; Rotating the control magnet to adjust the imaging direction of the capsule endoscope to a target direction; The vertical coordinate of the control magnet is controlled to be Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall.

[0014] As a further improvement of the present invention, the imaging direction of the capsule endoscope is rotated 180° vertically, the control magnet is rotated 180° vertically, and the north and south poles of the control magnet are reversed upside down.

[0015] To achieve one of the above objects, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, which includes the step of executing a third jump process when the capsule endoscope is located at the lower wall. a step of moving the control magnet to a first position, wherein the first position and the capsule endoscope are projected onto a horizontal plane at a first distance apart, and the vertical coordinate of the first position is set as Mz=Z0+δ+Cz; moving the control magnet downward to a new position until the capsule endoscope moves to the upper wall and stops, and setting the vertical coordinate of the new position as Mz=Z0-δ+Cz; and moving the control magnet upward to a new position, and setting the vertical coordinate of the new position to Mz=Z0+δ+Cz, thereby causing the capsule endoscope to fall and reach the lower wall and stop.

[0016] To achieve one of the above objects, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, which includes the step of executing a fourth jump process when the capsule endoscope is positioned on the upper wall. a step of moving the control magnet to a second position, wherein the second position and the capsule endoscope are projected onto a horizontal plane at a second distance apart, and the vertical coordinate of the second position is set as Mz=Z0-δ+Cz; moving the control magnet upward to a new position until the capsule endoscope moves to the lower wall and stops, and the vertical coordinate of the new position is set as Mz=Z0+δ+Cz; and moving the control magnet downward to a new position, the vertical coordinate of which is Mz=Z0-δ+Cz, thereby pulling up the capsule endoscope and stopping it when it reaches the upper wall.

[0017] To achieve one of the above objects, one embodiment of the present invention provides a control device for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, and the control device comprising: an acquisition module for acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the control magnet can lift the capsule endoscope; a control module; When the capsule endoscope is positioned on the lower wall, the control module moving the control magnet directly above the capsule endoscope; a first jump process for controlling the vertical coordinate of the control magnet to Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall; Or, When the capsule endoscope is positioned on the upper wall, moving the control magnet directly above the capsule endoscope; A second jump process is executed to control the vertical coordinate of the control magnet to Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall.

[0018] In order to achieve one of the above objects of the invention, one embodiment of the present invention provides an electronic device, comprising: a storage module for storing a computer program; and a processing module that, when executing the computer program, realizes the control method for the magnetically controlled capsule system.

[0019] To achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processing module, can realize the above-mentioned method for controlling a magnetically controlled capsule system. [Effects of the Invention]

[0020] Compared with the prior art, the present invention has the following beneficial effects: This control method efficiently and accurately controls the movement of the capsule endoscope within the digestive tract, controls the capsule endoscope to pass through obstructed areas within the digestive tract, realizes quantitative position changes and posture adjustments of the capsule endoscope, and even allows the capsule endoscope to quickly switch positions on the upper and lower walls to photograph the target area, achieving control operation effects that are currently difficult to achieve with manual control, reducing unnecessary adjustments of the examinee's body position and improving the comfort of the examination process. It significantly improves the degree of automation and execution efficiency of control, expands the quantitative control means and control functions of the capsule endoscope, and is advantageous for expanding the application scenarios of magnetically controlled capsule systems. [Brief explanation of the drawings]

[0021] [Figure 1] 3 is a flowchart of a control method according to an embodiment of the present invention. [Figure 2]1 is a structural diagram of a capsule endoscope according to an embodiment of the present invention in a state where the capsule endoscope is sunk to the bottom. [Figure 3] 1 is a structural diagram of a capsule endoscope according to an embodiment of the present invention attached to a ceiling. [Figure 4] 10 is a flowchart of a control process for causing the capsule endoscope according to the embodiment of the present invention to perform a basic jump. [Figure 5] 10A and 10B are diagrams illustrating the process of changing the capsule endoscope of the embodiment of the present invention from bottom suction to ceiling suction. [Figure 6] 10A and 10B are diagrams illustrating the process of changing the capsule endoscope of the embodiment of the present invention from the ceiling suction position to the bottom suction position. [Figure 7] 10 is a flowchart of control for making the capsule endoscope of the embodiment of the present invention perform a mirror jump. [Figure 8] 10A and 10B are diagrams illustrating the process of the capsule endoscope of the embodiment of the present invention changing from bottom to ceiling suction and then turning over. [Figure 9] 10A and 10B are diagrams illustrating the process of the capsule endoscope of the embodiment of the present invention changing from the ceiling suction position to the bottom position and then turning over. [Figure 10] 10 is a flowchart of a control process for causing the capsule endoscope of the embodiment of the present invention to perform a straddle jump. [Figure 11] 10 is a diagram illustrating the process of changing when the capsule endoscope of the embodiment of the present invention is at the bottom and crosses an obstacle. [Figure 12] 10A and 10B are process diagrams illustrating the process of crossing an obstacle when the capsule endoscope according to an embodiment of the present invention is at the bottom. [Figure 13] 10 is a diagram showing a process of change when the capsule endoscope of the embodiment of the present invention overcomes an obstacle while adsorbed to the ceiling. [Figure 14] 10 is a process diagram showing how the capsule endoscope of the embodiment of the present invention overcomes an obstacle while being attached to the ceiling. [Figure 15] FIG. 1 is a module diagram of a magnetically controlled capsule system according to an embodiment of the present invention.

[0022] Here, 1000 is a magnetically controlled capsule system, 100 is a magnetic control system, 200 is a capsule endoscope, 10 is a control device, 11 is a control magnet, 20 is a signal transmission module, 30 is a memory module, 40 is a processing module, 50 is a capsule magnet, 60 is an imaging module, 70 is a signal transmission module, 80 is a communication bus, 300 is a digestive tract, 301 is an upper wall, 302 is a lower wall, and 31 is a liquid. DETAILED DESCRIPTION OF THE INVENTION

[0023] The present invention will be described in detail below in combination with specific embodiments shown in the drawings, but 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.

[0024] One embodiment of the present invention provides a method and device for controlling a magnetically controlled capsule system that efficiently controls the movement of a capsule endoscope. The magnetically controlled capsule system is a device that is applied to the human body, and the capsule endoscope can be moved within the digestive tract by an external magnetic control device.

[0025] <Magnetic Control Capsule System> As shown in FIG. 15 , the magnetically controlled capsule system 1000 of this embodiment includes a magnetic control system 100 and a capsule endoscope 200. The magnetically controlled capsule system 1000 is capable of positioning the capsule endoscope 200 and controlling its movement via the magnetic control system 100. The magnetic control system 100 includes a control magnet 11 for generating a magnetic field and a control device 10 for controlling the movement of the control magnet 11. The capsule endoscope 200 is equipped with a sensor module (not shown), a capsule magnet 50, and an imaging module 60. The sensor module includes a magnetic sensor for detecting a magnetic field and an acceleration sensor for detecting acceleration. 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 capsule endoscope 200 is positioned based on data detected by the sensor module, and the control magnet 11 applies a force to the capsule magnet 50. In combination with the positioning data of the capsule endoscope 200, the magnetic control system 100 controls the position and posture of the capsule endoscope 200.

[0026] 2 and 3, the capsule endoscope 200 is located in a detection area having an upper wall 301 and a lower wall 302. The detection area may be a laboratory model of the human digestive tract, or may actually exist in the body cavity of a subject. In this embodiment, the detection area is assumed to be the digestive tract 300.

[0027] More specifically, taking the stomach portion of the digestive tract 300 as an example, the amount of gas in the digestive tract 300 is small compared to the liquid 31, and only a small amount of gas exists in the gastric antrum and part of the fundus. Therefore, when the capsule endoscope 200 is stable in the digestive tract 300, it generally exhibits either a fundus-sunk state (where the capsule is in contact with the lower wall of the detection area) or a ceiling-attached state (where the capsule is in contact with the upper wall of the detection area). The fundus-sunk state is shown in FIG. 2, and the ceiling-attached state is shown in FIG. 3. At the upper and lower walls 301 and 302 of the detection area, i.e., the upper and lower walls 301 and 302 of the digestive tract 300, the interface of the liquid 31 is relatively close to the upper wall 301. During an examination, the capsule endoscope 200 is located inside the human body, which lies supine on a bed. A magnetic control system 100 is installed outside the human body. The magnetic field emitted by the control magnet 11 interacts with the capsule magnet 50 to control the movement of the capsule endoscope 200 inside the human body.

[0028] To clearly express the positions and directions described in this embodiment, the human body is positioned above the bed surface, and the opposite direction is considered to be downward. Taking Figures 2 and 3 as an example, the control magnet 11 is positioned above the human body, and the control magnet 11 can move in any direction above the body. The buoyancy acting on the capsule endoscope 200 is directed upward, and the gravity is directed downward. In this embodiment, the horizontal plane is perpendicular to the up-down direction, and the left-right direction is the left-right direction in the figure. In Figures 11-14, the capsule endoscope 200 moves from left to right.

[0029] When the capsule endoscope 200 is in the ceiling adsorption state, the capsule endoscope 200 contacts the upper wall 301, and at this time the control magnet 11 is relatively close to the capsule endoscope 200, and the control magnet 11 emits magnetic force to attract the capsule magnet 50 inside the capsule endoscope 200. When the capsule endoscope 200 is in the bottom-down state, the capsule endoscope 200 contacts the lower wall 302. Furthermore, when the attractive force of the external control magnet 11 is removed, the capsule endoscope 200 enters the bottom-down state.

[0030] Furthermore, in both the ceiling-attached state and the bottom-sunk state, the capsule endoscope 200 is in a state of force equilibrium. In the bottom-sunk and ceiling-attached states, the capsule endoscope 200 relies on the support force and frictional force of the digestive tract 300 to achieve a self-adaptive balance between the magnetic force of the control magnet 11, the gravity of the capsule endoscope 200, and the buoyancy of the liquid 31. Once it is no longer supported by the upper wall 301 and lower wall 302 of the digestive tract 300, the capsule endoscope 200 is mainly immersed in gastric fluid due to the very little gas in the stomach, making it very difficult for the capsule endoscope 200 to maintain balance at any vertical position. Therefore, when the capsule endoscope 200 moves, after the control magnet 11 stops moving, the capsule endoscope 200 maintains the ceiling-attached state or the bottom-sunk state when stopped.

[0031] <Critical height distance> Before executing the control method for the magnetically controlled capsule system 1000, the critical height distance can be obtained first. This critical height distance is the maximum distance between the control magnet 11 and the capsule endoscope 200 at which the control magnet 11 can lift the capsule endoscope 200. The critical height distance can be obtained by the following two exemplary methods.

[0032] In the first embodiment, the critical height distance is derived by calculation, and the calculation method is as follows.

[0033] The attraction force of the control magnet 11 to the capsule endoscope 200 can be expressed as follows:

number

[0034] When the attractive force of the control magnet 11 to the capsule endoscope 200, the gravity of the capsule endoscope 200 and the buoyancy force it receives are in equilibrium at the critical height distance Z0, the force equilibrium equation is as follows: F m (Z0)+ρVg=m cg (Equation 2) where ρ is the density of the liquid 31 in which the capsule endoscope 200 exists, V is the volume of the capsule endoscope 200, g is the gravitational acceleration constant, and m c is the mass of the capsule endoscope 200.

[0035] Combining Equation 1 and Equation 2 above, we obtain Equation 3 for calculating the critical height distance Z0.

number

[0036] In the second embodiment, the critical height distance can also be determined by experimental measurement. In a real environment, the magnitude of the magnetic moment of the control magnet 11 and the capsule magnet 50 changes due to the influence of magnetization, and the mass and volume of the capsule endoscope 200 are affected by changes in the model. Therefore, by performing multiple experimental measurements based on the actual control system and type of capsule endoscope 200 and then taking the arithmetic average value, the error of the measurement results can be significantly reduced and the results can be more reliable.

[0037] Specifically, the method for obtaining the critical height distance includes the following steps:

[0038] The control magnet 11 is moved to a position directly above the capsule endoscope 200 and is moved relatively away from the capsule endoscope 200 to prevent the capsule endoscope 200 from being pulled up.

[0039] The control magnet 11 is rotated to a vertical position.

[0040] The control magnet 11 is moved vertically toward the capsule endoscope 200 .

[0041] When the capsule endoscope 200 starts to move away from the lower wall 302, the height difference between the capsule endoscope 200 and the control magnet 11 at this point is recorded. This height difference is the critical height distance.

[0042] The magnetically controlled capsule system 1000 can position the capsule endoscope 200, and can therefore obtain the coordinates [Cx, Cy, Cz, Ch, Cv, Cs] of the capsule endoscope 200 and the coordinates [Mx, My, Mz, Mh, Mv] of the control magnet 11. The coordinates of the capsule endoscope 200 and the coordinates of the control magnet 11 are in the same world coordinate system.

[0043] [Cx, Cy, Cz] represent the position coordinates of the capsule endoscope 200 in the XYZ three-axis direction in the world coordinate system, and the orientation angle of the capsule endoscope 200 is described by parameters [Ch, Cv] in spherical coordinate format. Cv is the capsule vertical tilt angle, and Ch is the capsule horizontal azimuth angle. [Ch, Cv] represent the orientation angle of the head of the capsule endoscope 200. The capsule horizontal azimuth angle Ch is the angle between the XY plane projection vector of the orientation of the head of the capsule endoscope 200 and the positive direction of the Y axis, and increases clockwise. The capsule vertical tilt angle Cv (value range [0, +180] degrees) is the angle between the orientation of the head of the capsule endoscope 200 and the positive direction of the Z axis. Here, the orientation of the head of the capsule endoscope 200 refers to the orientation of the end of the capsule endoscope 200 where the lens is installed.

[0044] [Mx, My, Mz] represent the position coordinates of the control magnet 11 in the three XYZ directions in the world coordinate system, and [Mh, Mv] represent the angle of the magnetic field direction north pole of the control magnet 11. The horizontal azimuth angle Mh is the angle between the XY plane projection vector of the magnetization direction vector of the control magnet 11 and the positive Y-axis direction, and the vertical tilt angle Mv (value range [0, +180] degrees) is the angle between the magnetization direction vector of the control magnet 11 and the positive Z-axis direction.

[0045] When the control magnet 11 is positioned directly above the capsule endoscope 200, Mx=Cx and My=Cy, and the control magnet 11 and the capsule endoscope 200 are on the same line perpendicular to the XY plane of the world coordinate system.

[0046] When the control magnet 11 is rotated to the vertical state, the vertical tilt angle Mv=0, and at this time the capsule endoscope 200 is also controlled and adjusted to the vertical state, that is, the capsule vertical tilt angle Cv=0.

[0047] When the control magnet 11 gradually approaches the capsule endoscope 200 and the capsule endoscope 200 begins to move away from the bottom wall 302, that is, when the capsule endoscope 200 is just being pulled up from the bottom wall 302, the height difference Dz=Mz-Cz=Z0 between the center of the control magnet 11 and the capsule endoscope 200 at this point becomes the critical height distance.

[0048] According to the above steps, multiple critical height distances can be measured when the capsule endoscope 200 is in gastric juice and air. The above steps are repeated to obtain the arithmetic mean value of multiple measurement results.

[0049] For different magnetic control systems 100, different capsule endoscope 200 models, a parameter table of critical height distances can be created based on the hardware combination type for direct reference and easy use.

[0050] <Control method of magnetically controlled capsule system 1000> 1 shows a control method for a magnetically controlled capsule system 1000 according to an embodiment of the present application, and FIGS. 4-14 show specific jump method steps and jump illustrations. The control method according to an embodiment of the present application will be described below in conjunction with the drawings. While the present application provides method operation steps shown in the following embodiments or flowcharts, the execution order of steps that do not have a logically necessary causal relationship in the method, based on a basis that does not require ordinary or creative effort, is not limited to the execution order provided in the embodiment of the present application.

[0051] A specific control method for the magnetically controlled capsule system 1000 includes the following steps.

[0052] The coordinates [Cx, Cy, Cz], the critical height distance Z0, and the predetermined redundant distance δ of the capsule endoscope 200 are obtained. Here, the predetermined redundant distance δ is set to a value of about 3 cm to eliminate positioning errors and noise interference caused by peristalsis of the digestive tract 300, ensure a high success rate in executing control operations, and enable the capsule endoscope 200 to achieve the expected state transitions.

[0053] Obtain control instructions. The control command is controlled according to the position of the capsule endoscope 200 in the digestive tract 300 and the need for operation, and the control command can include a basic jump, a mirror jump, and a straddle jump. These jumps are respectively applied to different functional application scenarios of the capsule endoscope 200 examination, and the capsule endoscope 200 is controlled to jump in different modes according to different control commands.

[0054] Furthermore, each of the three types of jumps, basic jump, mirror jump, and straddle jump, includes two scenarios.

[0055] First scenario: When the capsule endoscope 200 is located at the lower wall 302, the capsule endoscope 200 performs the first jump or the third jump.

[0056] Second Scenario: When the capsule endoscope 200 is located on the upper wall 301, the capsule endoscope 200 performs the second jump or the fourth jump.

[0057] It should be noted that the first jump refers to the capsule endoscope 200 jumping upward from the lower wall 302 of the detection area. The second jump refers to the capsule endoscope 200 jumping downward from the upper wall 301 of the detection area. The third jump refers to an obstacle area on the lower wall 302 of the detection area, and the capsule endoscope 200 crossing the obstacle area from the lower wall 302 of the detection area to reach the target position. The fourth jump refers to an obstacle area on the upper wall 301 of the detection area, and the capsule endoscope 200 crossing the obstacle area from the upper wall 301 of the detection area to reach the target position.

[0058] The three types of jump modes and the first and second scenarios in each jump mode will be specifically described below.

[0059] <Basic Jump> The basic jumping motions include an upward jump and a downward jump, and control the position change of the capsule endoscope 200, which causes the capsule endoscope 200 to rise from the lower wall 302 of the cavity of the digestive tract 300 to reach the upper wall 301, or to fall from the upper wall 301 to reach the position of the lower wall 302. This is used to realize the rapid and quantitative switching of the capsule endoscope 200 in the digestive tract 300 between the positions of the upper wall 301 and the lower wall 302 in the vertical direction, and to realize rapid approach to the target position on the wall of the digestive tract 300.

[0060] Specific application scenarios of this basic jump include when the capsule endoscope 200 needs to contact the upper wall 301 or the lower wall 302 of the digestive tract 300 to take an image, and when the capsule endoscope 200 needs to switch contact with the upper wall 301 or the lower wall 302, and then can perform operations such as rotation and traction on another wall.

[0061] The method steps for executing a basic jump are shown in the flowchart of Fig. 4. When the control command is a basic jump, it is determined whether the capsule endoscope 200 is located on the lower wall 302 or the upper wall 301, and when the capsule endoscope 200 is located on the lower wall 302 (i.e., the first scenario), the first jump process is executed, and when the capsule endoscope 200 is located on the upper wall 301 (i.e., the second scenario), the second jump process is executed. Please refer to Fig. 5 for the movement process of the capsule endoscope 200 in the first scenario, and Fig. 6 for the movement process of the capsule endoscope 200 in the second scenario.

[0062] In the first scenario, a corresponding first jump process is executed, which includes the following steps:

[0063] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0064] Until the capsule endoscope 200 moves to the upper wall 301, the vertical coordinate of the control magnet 11 is controlled to be Mz=Z0-δ+Cz.

[0065] Initially, the vertical coordinate of the control magnet 11 is Mz1, which is located at position a in Figure 5. When it reaches the target position, its vertical coordinate is Mz2, which is located at position b in Figure 5. The control magnet 11 moves downward, and the moving distance is dz = (Z0 - δ) - (Mz1 - Cz), and then reaches Mz2 = Z0 - δ + Cz, and the capsule endoscope 200 is pulled up and moves upward until it reaches and stops at the upper wall 301 of the digestive tract 300, thereby achieving the controlled action effect of the capsule endoscope 200 making an upward basic jump.

[0066] In the second scenario, a corresponding second jump process is performed, which includes the following steps:

[0067] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0068] Until the capsule endoscope 200 moves to the lower wall 302, the vertical coordinate of the control magnet 11 is controlled to be Mz=Z0+δ+Cz.

[0069] Initially, the vertical coordinate of the control magnet 11 is Mz1, which is located at position a in Figure 6. When it reaches the target position, its vertical coordinate is Mz2, which is located at position b in Figure 6. The control magnet 11 moves upward, and the moving distance is dz = (Z0 + δ) - (Mz1 - Cz), and then reaches Mz2 = Z0 + δ + Cz, causing the capsule endoscope 200 to drop and move downward, reaching the lower wall 302 of the digestive tract 300 and stopping, thereby achieving the controlled action effect of the capsule endoscope 200 making a basic jump downward.

[0070] In the first and second scenarios, the orientation angle of the control magnet 11 does not change, and the orientation of the magnetic poles does not change either, so the capsule endoscope 200 only jumps from the lower wall 302 to the upper wall 301, and its orientation does not change.

[0071] To achieve better control effects and success rates, in both the first and second scenarios, the control magnet 11 can be rotated so that the magnetic field direction (north pole) is closer to the vertical direction (i.e., Mv=0 or 180), which provides the capsule endoscope 200 with the maximum suction force and simultaneously prevents the capsule endoscope 200 from unexpectedly shifting laterally.

[0072] <Mirror Jump> The mirror jump operation includes an upward jump and a downward jump, and the capsule endoscope 200 is raised from the lower wall 302 of the digestive tract 300 to reach the upper wall 301, or dropped from the upper wall 301 to move to the position of the lower wall 302, while simultaneously rotating the lens direction of the capsule endoscope 200 by a certain angle, thereby realizing rapid and quantitative switching between photographing the upper wall 301 and the lower wall 302 of the digestive tract 300.

[0073] In this embodiment, the capsule endoscope 200 is preferably controlled to rotate 180° vertically. As shown in Fig. 8, the capsule endoscope 200, which was originally facing upward on the bottom wall 302, rotates to face downward on the top wall 301, or the reverse situation occurs as shown in Fig. 9. The control magnet 11 also rotates 180° vertically, and the north and south poles of the control magnet 11 are swapped upside down.

[0074] Mirror jump can include various angle adjustments, but in most cases it is rotated 180 degrees to swap the top and bottom according to actual usage needs. This 180 degree adjustment method jumps like a mirror image, so this jump mode is named mirror jump.

[0075] As mentioned in the Background Art, a specific application scenario of this mirror jump corresponds to the case where the capsule endoscope 200 sometimes needs to photograph the upper region of the digestive tract 300 and sometimes needs to photograph the lower region of the digestive tract 300. That is, the capsule endoscope 200 needs to frequently switch positions and adjust to different photographing directions, and this mirror jump control mode is used to precisely control the movement trajectory of the capsule endoscope 200.

[0076] The method steps for performing a mirror jump are shown in the flowchart of Fig. 7. When the control command is a mirror jump, it is determined whether the capsule endoscope 200 is located on the lower wall 302 or the upper wall 301, and when the capsule endoscope 200 is located on the lower wall 302 (i.e., the first scenario), the first jump process is performed, and when the capsule endoscope 200 is located on the upper wall 301 (i.e., the second scenario), the second jump process is performed. See Fig. 8 for the movement process of the capsule endoscope 200 in the first scenario, and see Fig. 9 for the movement process of the capsule endoscope 200 in the second scenario.

[0077] In the first scenario, a corresponding first jump process is executed, which includes the following steps:

[0078] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0079] The vertical coordinate of the control magnet 11 is controlled to Mz=Z0+δ+Cz.

[0080] The control magnet 11 is rotated to adjust the imaging direction of the capsule endoscope 200 to the target direction. Preferably, the control magnet is rotated vertically by 180 degrees.

[0081] The control magnet 11 is moved downward to a new position until the capsule endoscope 200 moves to the upper wall 301, and the vertical coordinate of the new position is Mz=Z0-δ+Cz.

[0082] As shown in position a in Figure 8, after the control magnet 11 is moved directly above the capsule endoscope 200, the distance between the control magnet 11 and the capsule endoscope 200 is then adjusted to be greater than the critical height distance, so that Mz - Cz = Z0 + δ. That is, the vertical coordinate of the control magnet 11 is Mz = Z0 + δ + Cz. As shown in position b in Figure 8, the capsule endoscope 200 is in a safe state where it cannot be pulled up, and the lateral friction force it experiences is small, so it is easy for the capsule endoscope 200 to return to its lateral center position when it subsequently rotates. In an ideal situation, the critical height distance is reached when Mz - Cz = Z0, and adding a predetermined redundant distance δ ensures that the new distance between the control magnet 11 and the capsule endoscope 200 is greater than the critical height distance, so that the capsule endoscope 200 remains on the lower wall 302.

[0083] Next, as shown in positions c and d in Figure 8, the control magnet 11 is rotated vertically. This causes the capsule endoscope 200 to rotate accordingly, adjusting the imaging direction toward the target, while maintaining almost constant lateral position. Finally, the distance between the control magnet 11 and the capsule endoscope 200 is adjusted to be smaller than the critical height distance, so that Mz - Cz = Z0 - δ. As shown in position e in Figure 8, the capsule endoscope 200 is pulled up and reaches the upper wall 301. When the capsule endoscope 200 is in position a in Figure 8, i.e., the initial position, its imaging direction is upward, and it is imaging the upper wall 301 region of the digestive tract 300. When the capsule endoscope 200 moves to position e in Figure 8, compared to position a, the capsule endoscope 200 rotates vertically 180°, its imaging direction becomes downward, and it is imaging the lower wall 302 region of the contralateral digestive tract 300. As mentioned above, subtracting the predetermined redundant distance δ ensures that the distance between the new control magnet 11 and the capsule endoscope 200 is smaller than the critical height distance, preventing the capsule endoscope 200 from falling, thereby achieving the controlled action effect of the capsule endoscope 200 performing an upward mirror jump.

[0084] In the second scenario, a corresponding second jump process is performed, which includes the following steps:

[0085] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0086] The vertical coordinate of the control magnet 11 is controlled to Mz=Z0-δ+Cz.

[0087] The control magnet 11 is rotated to adjust the imaging direction of the capsule endoscope 200 to the target direction. Preferably, the control magnet is rotated vertically by 180 degrees.

[0088] Move the control magnet 11 downward to a new position until the capsule endoscope 200 moves to the lower wall 302, and define the vertical coordinate of the new position as Mz=Z0+δ+Cz; As shown in position a in Figure 9, after the control magnet 11 is moved directly above the capsule endoscope 200, the distance between the control magnet 11 and the capsule endoscope 200 is then adjusted to be less than the critical height distance, so that Mz - Cz = Z0 - δ. That is, the vertical coordinate of the control magnet 11 is set to Mz = Z0 - δ + Cz. As shown in position b in Figure 9, the capsule endoscope 200 is in a safe state where it will not fall, and the lateral friction force it receives is small, so that it will easily return to its horizontal center position when it subsequently rotates. In an ideal situation, the critical height distance is reached when Mz - Cz = Z0, and by subtracting a predetermined redundant distance δ, the new distance between the control magnet 11 and the capsule endoscope 200 is guaranteed to be less than the critical height distance, preventing it from falling.

[0089] Next, as shown in positions c and d in Figure 9, the control magnet 11 is rotated vertically. This causes the capsule to rotate accordingly, adjusting the imaging direction toward the target, while maintaining almost the same lateral position. Finally, the distance between the control magnet 11 and the capsule endoscope 200 is adjusted to be greater than the critical height distance, so that Mz - Cz = Z0 + δ holds. As shown in position e in Figure 9, the capsule endoscope 200 falls and reaches the lower wall 302. When the capsule endoscope 200 is at position a in Figure 9, i.e., the initial position, its imaging direction faces downward, capturing images of the lower wall 302 of the digestive tract 300. When the capsule endoscope 200 moves to position e in Figure 9, it rotates vertically by 180° compared to position a, and its imaging direction faces upward, capturing images of the upper wall 301 of the contralateral digestive tract 300. As mentioned above, adding the predetermined redundant distance δ ensures that the distance between the new control magnet 11 and the capsule endoscope 200 is greater than the critical height distance, and the capsule endoscope 200 falls to the lower wall 302. This achieves the controlled action effect of the capsule endoscope 200 performing an upward mirror jump.

[0090] Furthermore, near the critical height distance, the influence of the frictional force on the capsule endoscope 200 is relatively small, and the lateral component of the attractive force of the control magnet 11 has the characteristic of attracting the capsule endoscope 200 to the center directly below the control magnet 11, so the rotation angle of the control magnet 11 and the rotation angle of the capsule endoscope 200 are approximately the same. For example, when the control magnet 11 rotates 180°, the capsule endoscope 200 can also rotate 180° stably. Furthermore, when the rotation angle is less than 180°, the rotation angle of the control magnet 11 and the rotation angle of the capsule endoscope 200 are the same in magnitude but opposite in direction.

[0091] <Jump over> In the straddle-jumping operation, the capsule endoscope 200 is raised from the lower wall 302 of the cavity of the digestive tract 300 to reach the upper wall 301, or dropped from the upper wall 301 and moved to the position of the lower wall 302, while simultaneously generating a certain amount of horizontal displacement. After that, the capsule endoscope 200 is dropped from the upper wall 301 of the cavity of the digestive tract 300 to reach the lower wall 302, or raised from the lower wall 302 and moved to the upper wall 301, while simultaneously generating a certain amount of horizontal displacement, thereby enabling the capsule endoscope 200 to straddle an obstacle or a steep slope.

[0092] A specific application scenario of this straddling jump corresponds to the obstacle areas mentioned in the Background Art. The inside of the digestive tract has an irregular, undulating, and deformed cavity structure, and some anatomical regions (e.g., the fundus, antrum, and angle of the stomach) have obstacle areas such as relatively deep depressions or steep slopes. In addition, the surface of the digestive tract 300 that is not sufficiently expanded with air or water may have a relatively deep fold shape. By straddling jump, the capsule endoscope 200 can cross these obstacle areas.

[0093] In the straddle jump, when the capsule endoscope 200 moves from the current position C to the target position T, there is a certain amount of lateral displacement on the XY plane. When the capsule endoscope 200 jumps up and is in the air, the lateral component of the attractive force of the control magnet 11 on the capsule endoscope 200 has the characteristic of always attracting the capsule endoscope 200 to the center directly below the control magnet 11, so the capsule endoscope 200 always approaches directly below the control magnet 11. Therefore, when the capsule endoscope 200 flies in the air by jumping in the Z direction, the capsule endoscope 200 loses the obstacle caused by the frictional force of the wall of the digestive tract 300, and can easily achieve the lateral straddle effect within the digestive tract 300.

[0094] Furthermore, since the height of the cavity of the digestive tract 300 is limited, the distance that the capsule endoscope 200 can move in one straddle jump is also limited. If the linear distance between the current position C and the target position T is relatively large, it is necessary to gradually approach the target position T through multiple consecutive straddle jumps. By calculating the Euclidean distance (i.e., the linear distance) on the XY plane between the updated landing position Cnew of the capsule endoscope 200 and the target position T, it is determined whether the capsule endoscope 200 has reached the vicinity of the target position T. The Euclidean distance is calculated as follows.

number

[0095] The method steps for performing a straddle jump are shown in the flowchart of Figure 10. When the control command is a straddle jump, it is determined whether the capsule endoscope 200 is located on the lower wall 302 or the upper wall 301. When the capsule endoscope 200 is located on the lower wall 302 (i.e., the first scenario), a third jump process is performed, and when the capsule endoscope 200 is located on the upper wall 301 (i.e., the second scenario), a fourth jump process is performed. Please refer to Figures 11 and 12 for the movement process of the capsule endoscope 200 in the first scenario, and refer to Figures 13 and 14 for the movement process of the capsule endoscope 200 in the second scenario.

[0096] In the first scenario, a corresponding third jump process is executed. As shown in Fig. 11, the capsule endoscope 200 located in the lower wall 302 of the digestive tract 300 performs an upward straddle jump from position C to position T, and moves the capsule endoscope 200 from the coordinates [Cx, Cy] to new coordinates [Tx, Ty]. This includes the following steps:

[0097] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0098] The vertical coordinate of the control magnet 11 is controlled to Mz=Z0+δ+Cz.

[0099] The control magnet 11 is moved a first distance on the horizontal plane, and the new position of the control magnet 11 is set as a first position. That is, the first position and the capsule endoscope 200 are separated by the first distance in terms of their projected positions on the horizontal plane.

[0100] The control magnet 11 is moved downward to a new position until the capsule endoscope 200 moves to the upper wall 301 and stops, and the vertical coordinate of the new position is defined as Mz=Z0-δ+Cz.

[0101] Next, the control magnet 11 is moved upward to a new position, and the vertical coordinate of the new position is set as Mz=Z0+δ+Cz, whereby the capsule endoscope 200 falls and stops upon reaching the bottom wall 302.

[0102] 11, in the previous control, the control magnet 11 has already moved directly above the capsule endoscope 200, or the control magnet 11 is first moved directly above the capsule endoscope 200 to determine the current position C and the target position T. Then, the control magnet 11 is moved directly above the target position T of the capsule endoscope 200, and the vertical coordinate of the control magnet 11 is controlled to Mz=Z0+δ+Cz. The control magnet 11 is also moved a first distance on the horizontal plane so that the capsule endoscope 200 is not affected when the control magnet 11 moves to the position b of FIG. 11. Next, the control magnet 11 moves downward in the Z direction from the current height Mz by a distance dz=(Z0-δ)-(Mz-Cz) to approach the capsule endoscope 200 and reaches a final height Mz=Z0-δ+Cz, at which point the capsule endoscope 200 is pulled up and reaches the upper wall 301 of the digestive tract 300 and stops. During the process of the capsule endoscope 200 moving upward, it is constantly subjected to the magnetic attractive force of the right control magnet 11, which generates a lateral force, causing it to move as shown at position c in Fig. 11. Finally, the control magnet 11 moves relatively upward in the Z direction from its current height by dz = (Z0 + δ) - (Mz - Cz), separating from the capsule endoscope 200 and reaching a final height Mz = Z0 + δ + Cz, causing the capsule endoscope 200 to fall and stop upon reaching the bottom wall 302. During the process of the capsule endoscope 200 moving downward, it is constantly subjected to the magnetic attractive force of the right control magnet 11, which generates a lateral force, causing it to move as shown at position d in Fig. 11.

[0103] Through the above steps, the capsule endoscope 200 uses jumps in the Z direction to achieve straddling movement from the current position C to the target position T in the XY plane. The overall movement process of the capsule endoscope 200 is shown as movement from position a to position b to position c in Figure 12.

[0104] In the second scenario, a corresponding fourth jump process is executed, which includes the following steps:

[0105] The control magnet 11 is moved directly above the capsule endoscope 200 .

[0106] The vertical coordinate of the control magnet 11 is controlled to Mz=Z0-δ+Cz.

[0107] The control magnet 11 is moved a second distance on the horizontal plane, and the new position of the control magnet 11 is set as a second position. That is, the second position and the capsule endoscope 200 are separated by the second distance in terms of their projected positions on the horizontal plane.

[0108] The control magnet 11 is moved upward to a new position until the capsule endoscope 200 moves to the lower wall 302 and stops, and the vertical coordinate of the new position is Mz=Z0+δ+Cz.

[0109] Next, the control magnet 11 is moved downward to a new position, and the vertical coordinate of the new position is set as Mz=Z0-δ+Cz, whereby the capsule endoscope 200 is pulled up and reaches the upper wall 302 where it stops.

[0110] 13, the control magnet 11 has already moved directly above the capsule endoscope 200 in the previous control, or the control magnet 11 is first moved directly above the capsule endoscope 200 to determine the current position C and the target position T. Then, the control magnet 11 is moved directly above the target position T of the capsule endoscope 200, and the vertical coordinate of the control magnet 11 is controlled to Mz = Z0 - δ + Cz. The control magnet 11 is also moved a second distance on the horizontal plane so that when the control magnet 11 moves to position b in Fig. 13, the capsule endoscope 200 is not affected and is always attracted to the upper wall 301. Next, the control magnet 11 moves upward in the Z direction from the current height Mz by dz = (Z0 + δ) - (Mz - Cz) relative to the capsule endoscope 200, and then moves away from the capsule endoscope 200 to reach the final height Mz = Z0 + δ + Cz, and the capsule endoscope 200 falls downward and reaches the lower wall 302 of the digestive tract 300 and stops. During the falling process, the capsule endoscope 200 is constantly subjected to the attractive force of the magnetic force of the right control magnet 11, which generates a lateral force, causing it to move as shown at position c in Figure 13. Finally, the control magnet 11 moves relatively downward in the Z direction from its current height by dz = (Z0 - δ) - (Mz - Cz) and approaches the capsule endoscope 200, reaching a final height Mz = Z0 - δ + Cz, at which point the capsule endoscope 200 is pulled up and reaches and stops at the upper wall 301. During the process of the capsule endoscope 200 moving upward, the capsule endoscope 200 is constantly subjected to the attractive force of the magnetic force of the right control magnet 11, which generates a lateral force, causing it to move as shown at position d in Figure 13.

[0111] Through the above steps, the capsule endoscope 200 uses jumps in the Z direction to achieve straddling movement from the current position C to the target position T in the XY plane. The overall movement process of the capsule endoscope 200 is shown as movement from position a to position b to position c in Figure 14.

[0112] The first and second distances can be set according to the control needs of the inspection process, and are generally determined by the relative displacement amount based on the position C, allowing the capsule endoscope 200 to jump over the relative displacement amount.

[0113] In addition, by setting the first distance and the second distance relatively small, the distance of the straddle jump can be shortened, and the movement to the target position can be completed in multiple steps. Furthermore, by slowing down the moving speed of the control magnet 11 in the Z direction, the straddle flight time of the capsule endoscope 200 can be increased, thereby increasing the straddle jump distance of the capsule endoscope 200 in the X and Y directions and reducing the number of consecutive straddle jumps required.

[0114] In addition, the control magnet 11 can be configured as a permanent magnet, and the basic jump, mirror jump, and straddle jump described above are completed under the pull of the permanent magnet. The automated quantitative jump control method for the capsule endoscope 200 based on the permanent magnet control described above can realize quantitatively controlled transformation of the spatial position and posture of the capsule endoscope 200 within the gastrointestinal tract 300.

[0115] Compared with the prior art, this embodiment has the following beneficial effects.

[0116] This control method efficiently and precisely controls the movement of the capsule endoscope 200 within the digestive tract 300, allowing the capsule endoscope 200 to pass through obstructed areas within the digestive tract 300 and achieve quantitative positional movement and posture adjustment of the capsule endoscope 200, allowing the capsule endoscope 200 to quickly switch its position between the upper wall 301 and the lower wall 302 to capture the target area. This achieves a control operation effect that is currently difficult to achieve with manual control, reduces unnecessary positional adjustments for the subject, and improves the comfort of the examination process. It significantly improves the automation level and execution efficiency of the control, expands the quantitative control means and control functions of the capsule endoscope 200, and is beneficial to expanding the application scenarios of the magnetically controlled capsule system 1000.

[0117] In one embodiment, there is provided a control device 10 for a magnetically controlled capsule system 1000. Modules that can be included in this magnetic control device 10 and the specific functions of each module are as follows:

[0118] The acquisition module is used to acquire the coordinates [Cx, Cy, Cz], the critical height distance Z0, and the predetermined redundancy distance δ of the capsule endoscope 200. The critical height distance is the maximum distance between the control magnet 11 and the capsule endoscope 200 at which the control magnet 11 can lift the capsule endoscope 200.

[0119] The control module can execute a first jump process when the capsule endoscope 200 is located on the lower wall 302. In the first jump process, The control magnet 11 is moved directly above the capsule endoscope 200, The vertical coordinate of the control magnet 11 is controlled to be Mz=Z0-δ+Cz until the capsule endoscope 200 moves to the upper wall 301. or When the capsule endoscope 200 is located on the upper wall 301, the following second jump process can be executed. The control magnet 11 is moved directly above the capsule endoscope 200 . Until the capsule endoscope 200 moves to the lower wall 302, the vertical coordinate of the control magnet 11 is controlled to be Mz=Z0+δ+Cz.

[0120] Furthermore, when the capsule endoscope is located on the lower wall, the control module can execute the following third jump process. Move the control magnet to a first position, a first distance exists between the first position and the capsule endoscope on a horizontal plane, and the vertical coordinate of the first position is Mz=Z0+δ+Cz; The control magnet is moved downward to a new position, and the vertical coordinate of the new position is defined as Mz=Z0-δ+Cz, until the capsule endoscope moves to the upper wall and stops. Next, the control magnet is moved upward to a new position, and the vertical coordinate of the new position is set to Mz=Z0+δ+Cz, so that the capsule endoscope 200 falls and reaches the bottom wall 302 and stops.

[0121] Furthermore, when the capsule endoscope is located on the upper wall, the control module can execute the following fourth jump process. The control magnet is moved to a second position, and a second distance exists between the second position and the capsule endoscope on a horizontal plane, and the vertical coordinate of the second position is defined as Mz=Z0-δ+Cz; Move the control magnet upward to a new position until the capsule endoscope moves to the lower wall and stops, and define the vertical coordinate of the new position as Mz=Z0+δ+Cz; Next, the control magnet is moved downward to a new position, and the vertical coordinate of the new position is set to Mz=Z0-δ+Cz, so that the capsule endoscope 200 is pulled up and stops at the upper wall 302.

[0122] For undisclosed details of the control device 10 in accordance with the present invention, please refer to the disclosed details of the control method in accordance with the present invention.

[0123] 15, the magnetically controlled capsule system 1000 of this embodiment may include a magnetic control system 100 and a capsule endoscope 200. In addition to the above-mentioned imaging module 60, capsule magnet 50, and sensor module, the capsule endoscope 200 also includes a signal transmission module 70 communicatively connected to the imaging module 60, and the signal transmission module 70 transmits information to an external processing module 40 or server. After the capsule endoscope 200 is moved to a specified position from the outside, the imaging module 60 takes a picture of the inside of the digestive tract 300 and transmits the picture to the outside through the signal transmission module 70, thereby completing the imaging of the inside of the body.

[0124] In addition to the above-mentioned control magnet 11 and control device 10, the magnetic control system 100 also includes a signal transmission module 20, a communication bus 80, a storage module 30, and a processing module 40. The signal transmission module 70 and the signal transmission module 20 can transmit data via wireless connection formats such as Bluetooth, WiFi, and Zigbee (registered trademark). The communication bus 80 is used to establish connections between the control device 10, the signal transmission module 20, the processing module 40, and the storage module 30, and the communication bus 80 includes one path for transmitting information between the above-mentioned control device 10, the signal transmission module 20, the processing module 40, and the storage module 30.

[0125] The magnetically controlled capsule system 1000 may further include a computing device such as a computer, a laptop computer, a PDA, and a cloud server, as well as a processing module 40, a storage module 30, and a computer program (e.g., the above-described control method program) stored in the storage module 30 and executable on the processing module 40. When the processing module 40 executes the computer program, it realizes the steps of each of the above-described control method embodiments, such as the steps shown in FIG.

[0126] The present invention also provides an electronic device, which includes a storage module 30 and a processing module 40, and when the processing module 40 executes the computer program, it can realize the steps of the above-mentioned control method for the magnetically controlled capsule system 1000. That is, it can realize the steps of any technical solution of the above-mentioned control method for the magnetically controlled capsule system 1000.

[0127] This electronic device may be an integrated part within the control device 10 of the magnetic control capsule system 1000, or may be part of a local terminal device or a cloud server.

[0128] The processing module 40 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor may be a microprocessor or any conventional processor. The processing module 40 is the control center of the control device 10 of the magnetic control capsule system 1000, and connects each part of the control device 10 of the magnetic control capsule system 1000 using various interfaces and lines.

[0129] The storage module 30 can be used to store the computer programs and / or modules, and the processing module 40 executes the computer programs and / or modules stored in the storage module 30 and accesses the data in the storage module 30 to realize various functions of the control device 10 of the magnetically controlled capsule system 1000. The storage module 30 mainly includes a program storage area and a data storage area, of which the program storage area can store an operating system, an application program required for at least one function, etc. Furthermore, the storage module 30 can include a high-speed random access memory, and can also include non-volatile memory such as a hard disk, memory, an insertable hard disk, a Smart Media Card (SMC)®, a Secure Digital Card (SD), a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage device.

[0130] Illustratively, the computer program can be divided into one or more modules / units, which are stored in the storage module 30 and executed by the processing module 40 to accomplish the present invention. The one or more modules / units are a series of computer program instruction segments capable of accomplishing a specific function, and these instruction segments are used to describe the execution process of the computer program in the control device 10 of the magnetic control capsule system 1000.

[0131] Furthermore, one embodiment of the present invention provides a readable storage medium storing a computer program, which, when executed by processing module 40, can realize the steps of the above-described control method for magnetically controlled capsule system 1000. That is, it can realize the steps of any technical solution of the above-described control method for magnetically controlled capsule system 1000.

[0132] When a module integrated into the control method of the magnetically controlled capsule system 1000 is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes of the above-described embodiment methods realized by the present invention can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when this computer program is executed by the processing module 40, the steps of each of the above-described method embodiments can be realized.

[0133] Here, the computer program includes computer program code, which may be in source code format, object code format, an executable file, or some intermediate format. The computer-readable medium may include any entity or device capable of carrying the computer program code, such as a recording medium, a USB disk, a mobile hard disk, a magnetic disk, an optical disk, computer memory, read-only memory (ROM), random access memory (RAM), an electrical carrier wave signal, a telecommunications signal, and a software distribution medium. The content included in the computer-readable medium may be increased or decreased as required by the laws and patent practices of the jurisdiction. For example, in some jurisdictions, the laws and patent practices of the jurisdictions require that computer-readable medium not include electrical carrier wave signals and telecommunications signals.

[0134] It should be understood that although the present specification is described according to embodiments, each embodiment does not necessarily include only one independent technical solution, and such a description of the specification is merely for clarity, and those skilled in the art should view the specification as a whole and appropriately combine the technical solutions of each embodiment to form other embodiments that are understandable to those skilled in the art.

[0135] The series of detailed descriptions listed above are merely specific descriptions for the feasible embodiments of the present invention, and are not used to limit the protection scope of the present invention; all equivalent embodiments or modifications that do not deviate from the technical spirit of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control method comprising: a step of acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the capsule endoscope can be pulled up by the control magnet; When the capsule endoscope is positioned on the lower wall, moving the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is controlled to be Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall. executing a first jump process; and, When the capsule endoscope is positioned on the upper wall, moving the control magnet directly above the capsule endoscope; The vertical coordinate of the control magnet is controlled to be Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall. and a step of executing a second jump process.

2. The critical height distance is: [Equation 1] is calculated by where ρ is the density of the liquid in which the capsule endoscope resides, V is the volume of the capsule endoscope, g is the gravitational acceleration constant, and m c is the mass of the capsule endoscope, M and m are the magnetic moments of the control magnet and the capsule magnet in the capsule endoscope, respectively, r is the center distance between the control magnet and the capsule magnet, and μ 0 is the vacuum permeability, The method for controlling a magnetically controlled capsule system according to claim 1 .

3. To obtain the critical height distance, moving the control magnet directly above the capsule endoscope and moving the control magnet relatively away from the capsule endoscope to prevent the capsule endoscope from being pulled up; rotating the control magnet to a vertical position; moving the control magnet vertically toward the capsule endoscope; a step of recording a height difference between the capsule endoscope and the control magnet at a point when the capsule endoscope starts to separate from the lower wall; The height difference is the critical height distance. The method for controlling a magnetically controlled capsule system according to claim 1 .

4. The first jump process includes: moving the control magnet directly above the capsule endoscope; controlling the vertical coordinate of the control magnet to Mz=Z0+δ+Cz; rotating the control magnet to adjust the imaging direction of the capsule endoscope to a target direction; controlling the vertical coordinate of the control magnet to Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall; 2. The method for controlling a magnetically controlled capsule system according to claim 1, comprising:

5. The second jump process includes: moving the control magnet directly above the capsule endoscope; controlling the vertical coordinate of the control magnet to Mz=Z0-δ+Cz; rotating the control magnet to adjust the imaging direction of the capsule endoscope to a target direction; controlling the vertical coordinate of the control magnet to Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall; 2. The method for controlling a magnetically controlled capsule system according to claim 1, comprising:

6. rotating the imaging direction of the capsule endoscope by 180° in the vertical direction; rotating the control magnet vertically by 180 degrees; reversing the north and south poles of the control magnet; 5. The method for controlling a magnetically controlled capsule system according to claim 4, comprising:

7. A control method for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control method comprising: a step of acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the capsule endoscope can be pulled up by the control magnet; and executing a third jump process when the capsule endoscope is located at the lower wall; The third jump process includes: a step of moving the control magnet to a first position, wherein the first position and the capsule endoscope are projected onto a horizontal plane at a first distance apart, and the vertical coordinate of the first position is set as Mz=Z0+δ+Cz; moving the control magnet downward to a new position until the capsule endoscope moves to the upper wall and stops, and the vertical coordinate of the new position is Mz=Z0-δ+Cz; moving the control magnet upward to a new position, and setting the vertical coordinate of the new position to Mz=Z0+δ+Cz, thereby causing the capsule endoscope to fall and reach the bottom wall and stop; A method for controlling a magnetically controlled capsule system, comprising:

8. A control method for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control method comprising: a step of acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the capsule endoscope can be pulled up by the control magnet; and executing a fourth jump process when the capsule endoscope is located on the upper wall; The fourth jump process is a step of moving the control magnet to a second position, wherein the second position and the capsule endoscope are projected onto a horizontal plane at a second distance from each other, and the vertical coordinate of the second position is set as Mz=Z0-δ+Cz; moving the control magnet upward to a new position until the capsule endoscope moves to the lower wall and stops, and the vertical coordinate of the new position is set as Mz=Z0+δ+Cz; moving the control magnet downward to a new position, and setting the vertical coordinate of the new position to Mz=Z0-δ+Cz, thereby pulling up the capsule endoscope until it reaches the upper wall and stops; A method for controlling a magnetically controlled capsule system, comprising:

9. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control device comprising: an acquisition module for acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the control magnet can lift the capsule endoscope; a control module; The control module When the capsule endoscope is positioned on the lower wall, moving the control magnet directly above the capsule endoscope; a first jump process for controlling the vertical coordinate of the control magnet to Mz=Z0-δ+Cz until the capsule endoscope moves to the upper wall; Or, When the capsule endoscope is positioned on the upper wall, moving the control magnet directly above the capsule endoscope; a second jump process for controlling the vertical coordinate of the control magnet to Mz=Z0+δ+Cz until the capsule endoscope moves to the lower wall;

10. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control device comprising: an acquisition module for acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the control magnet can lift the capsule endoscope; a control module; the control module executes a third jump process when the capsule endoscope is located at the lower wall; The third jump process includes: a step of moving the control magnet to a first position, wherein the first position and the capsule endoscope are projected onto a horizontal plane at a first distance apart, and the vertical coordinate of the first position is set as Mz=Z0+δ+Cz; moving the control magnet downward to a new position until the capsule endoscope moves to the upper wall and stops, and setting the vertical coordinate of the new position as Mz=Z0-δ+Cz; moving the control magnet upward to a new position, and setting the vertical coordinate of the new position to Mz=Z0+δ+Cz, thereby causing the capsule endoscope to fall and reach the bottom wall and stop; A control device for a magnetically controlled capsule system, comprising:

11. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system including a capsule endoscope and a control magnet, the capsule endoscope being located in a detection area having an upper wall and a lower wall, the control device comprising: an acquisition module for acquiring the coordinates [Cx, Cy, Cz] of the capsule endoscope, a critical height distance Z0, and a predetermined redundant distance δ, the critical height distance being the maximum distance between the control magnet and the capsule endoscope at which the control magnet can lift the capsule endoscope; a control module; the control module executes a fourth jump process when the capsule endoscope is located on the upper wall; The fourth jump process is a step of moving the control magnet to a second position, wherein the second position and the capsule endoscope are projected onto a horizontal plane at a second distance from each other, and the vertical coordinate of the second position is set as Mz=Z0-δ+Cz; moving the control magnet upward to a new position until the capsule endoscope moves to the lower wall and stops, and the vertical coordinate of the new position is set as Mz=Z0+δ+Cz; moving the control magnet downward to a new position, and setting the vertical coordinate of the new position to Mz=Z0-δ+Cz, thereby pulling up the capsule endoscope until it reaches the upper wall and stops; A control device for a magnetically controlled capsule system, comprising:

12. 1. An electronic device, comprising: a storage module for storing a computer program; and a processing module that, when executing the computer program, realizes the method for controlling a magnetically controlled capsule system according to claim 1.

13. A computer-readable storage medium, comprising: storing a computer program; The computer program, when executed by the processing module, realizes the control method for a magnetically controlled capsule system according to claim 1. A computer-readable storage medium.

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