Shielding device and magnetic control capsule endoscope system

Abstract

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

Description

Technical Field

[0001] This application claims the priority of a Chinese patent application with an application date of January 27, 2022, an application number of 202210097916.8, and a title of "Shielding Device and Magnetic Control Capsule Endoscope System", and this application is made by referring to all the specifications, claims, attached drawings and abstracts of the above Chinese patent application.

[0002] This application relates to the technical field of medical devices, and more specifically, to a shielding device and a magnetic control capsule endoscope system.

Background Art

[0003] In the prior art, a magnetic control capsule endoscope system includes a capsule endoscope and a magnetic control system, and the movement mode, movement path, posture angle, etc. of the capsule endoscope can be controlled through the control main member of the magnetic control system. In specific use, after the control main member of the magnetic control system moves to its working area or the subject enters the working area of the control main member of the magnetic control system, the capsule endoscope is controlled in this working area to move inside the digestive tract, so as to take images of the digestive tract.

[0004] Here, the main control member of the magnetic control system for controlling the capsule endoscope is a ferromagnetic material made of neodymium iron boron. Since this ferromagnetic material has a large size and the surface magnetic field strength can reach 850 mT or more, it has a strong magnetic force on ferromagnetic articles or magnetic components containing iron. Thus, when the main control member is in an unshielded state and is stationary, due to the lack of a shielding device in its stationary environment, nearby magnetic sensitive elements are affected, and as a result, the magnetic sensitive elements do not operate normally. The above-mentioned magnetic sensitive elements include medical elements implanted in the human body and several other electronic components. Also, during the movement process of the main control member, since the movement environment is not a specific environment that can shield the magnetic field, it may affect surrounding ferromagnetic articles and equipment, causing damage. On the other hand, in the prior art, mainly by installing the magnetic control system in a separate room, a safety range is formed around the magnetic control system to prevent the magnetic sensitive elements from entering this safety range and ensure the safe use of the magnetic control system.

[0005] Since the magnetic control system has a main control member in a strong magnetic field, this magnetic control system (including at least the ferromagnetic main control member) needs to be effectively shielded so that the main control member does not damage other magnetic sensitive elements during movement or storage.

Summary of the Invention

Problems to be Solved by the Invention

[0006] In order to solve the problem that the ferromagnetic main control member interferes with the outside due to ferromagnetic attraction, the present application provides a shielding device and a magnetic control capsule endoscope system that can effectively shield the magnetic field of the main control member in the magnetic control capsule endoscope system and enable a quick switching operation for the operating state and shielding state of the main control member, and can provide a hardware basis.

Means for Solving the Problems

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

[0008] Optionally, the lifting mechanism includes: a slide support component; a slide component fixedly connected to the shielding cover and sliding along the slide support component to move the shielding cover away from the control main member or to surround the control main member; a lifter; a push rod for controlling the lifting of the shielding cover via the lifter, wherein the push rod is connected to the shielding cover to move the shielding cover to slide in a direction approaching or departing from the control main member.

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

[0010] Optionally, the holder is a robot arm, the support structure includes a support rod, and the stopper includes a clamp component, the support rod being for supporting the clamp component, The clamping component is fixedly installed at the top of the support rod and is used to clamp the robot arm to limit the movement of the control main member.

[0011] Optionally, the robot arm includes a first sub-arm and a second sub-arm that are rotatably connected. The clamping component is a concave groove. The concave groove is used to fit the second sub-arm. After the second sub-arm is fitted into the concave groove, the projections of the first sub-arm and the second sub-arm onto the target plane are two straight lines with a fixed angle. The target plane is the plane where the groove bottom of the concave groove is located. During the rotation process of the first sub-arm, the second sub-arm is fitted into the concave groove at only one position.

[0012] Optionally, the position regulating structure further includes a concave groove elevator. The concave groove elevator is used to control the lifting of the support rod so that the clamping component can be lifted and lowered by the concave groove elevator and the support rod.

[0013] Optionally, the support structure includes a support base. The shield cover is provided outside the support base, and the slide support component is provided on one side of the support base. The support base includes a fixed bracket and a support plate. The support plate is attached by the fixed bracket and is used to place the control main member. The stopper is provided at the edge of one side of the support plate facing the control main member to limit the movement of the control main member.

[0014] Optionally, the stopper includes a protective slide plate. The protective slide plate is provided at the edge of the plate surface of the support plate, and one surface facing the shield cover in the standing state is a smooth surface.

[0015] As an option, a chute is provided on the plate surface of the support plate, the protective slide plate is attached in the groove of the chute so as to rotate around its bottom, here, the protective slide plate is erected in the chute under a magnetic shielding state, while being fitted in the chute under a non-magnetic shielding state, the support base further includes a locking structure, the locking structure includes a lock button, and the locking structure controls the protective slide plate to be in a locked state or an unlocked state in the chute by the lock button.

[0016] As an option, the control main member includes a magnet, the magnet is packaged by the main housing, the stopper includes a mounting table, and the mounting table is fixedly provided on the table surface of the support base to carry the control main member, here, the table surface of the mounting table and one end of the main housing close to the mounting table are in a shape that fits each other.

[0017] According to the second aspect of the present application, a magnetic control capsule endoscope system is provided, and the endoscope system includes the above shield device, a ferromagnetic control main member, a holder for supporting the control main member, and a work stage for attaching the holder, here, the holder supports the control main member so as to move, and the shield cover of the shield device is for shielding the control main member supported by the holder.

[0018] The shielding device according to the present application includes a shield cover, a slide support component, a slide component, a lifting machine, and a push rod that controls the lifting of the shield cover via the lifting machine. Here, the slide support component, the slide component, the lifting machine, and the push rod constitute a lifting mechanism for lifting the shield cover. Therefore, the shield cover can be arranged to surround the control main member or removed from around the control main member. This provides a hardware basis for the switching operation between the operating state and the shielding state of the control main member. Among them, when the shield cover is provided to surround the control main member by lifting, the strong magnetic field of the control main member can be shielded, and ferromagnetism and diamagnetism can be effectively shielded. Further, in the present application, the position regulating structure exerts the effects of supporting and limiting the movement on the control main member, preventing the control main member from contacting the shield cover, and ensuring the shielding effect.

Brief Description of the Drawings

[0019] By describing the embodiments of the present application with reference to the following drawings, the above and other objects, features, and advantages of the present application will become clearer.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0020] The present application will be described in more detail below with reference to the accompanying drawings. In each drawing, the same elements are denoted by similar reference numerals. For clarity, the parts of the drawings are not drawn to scale. Also, some known parts may not be shown in the figures.

[0021] To understand the present application more clearly, many specific details of the present application, such as the structure, materials, dimensions, processing processes, technologies, etc. of the device, will be described below. However, as those skilled in the art can understand, it is not necessary to implement the present application in accordance with these specific details.

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

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

[0024] The slide support component 402 may be a guide rail. The slide component 403 may be a slider. In this case, as shown in FIGS. 2 and 3, the guide rail can include a rail holder 4021 and a fixed rail 4022. Here, the rail holder 4021 is plate-shaped and stands and is fixed to the working stage 100. The fixed rail 4022 is fixed to the rail holder 4021 with screws and is in a protruding shape and attached to the rail holder 4021. The extending direction of the fixed rail 4022 is parallel to the axial direction of the shield cover 401. The slider is provided with a chute that fits with the fixed rail 4022, whereby the slider slides along the fixed rail 4022. In other embodiments, the chute may be provided on the fixed rail 4022. In this case, the slide component 403 is provided in this chute to move the shield cover 401 along the fixed rail 4022.

[0025] As shown in FIG. 1, the control main member 500 can be constructed by the main housing 501 enclosing a magnet 504. The main housing 501 serves to protect the magnet 504 and the like. Also, the main housing 501 can be fixed to the holder 600 via a rigid connector such as a cross beam 503. The movement of the magnet 504 itself is controlled by a motor assembly (including, for example, a horizontal rotation motor and a vertical rotation motor). Here, the material of the magnet 504 may be a magnetic material such as a neodymium magnet, and the shape of the magnet 504 may be spherical or the like. It should be noted that the present application does not limit the specific shape of the magnet 504, as long as the control of the capsule endoscope can be realized.

[0026] The above shield cover 401 has a cylindrical shape and may be formed in a multi-layer structure. Preferably, the shield cover 401 may have a single-layer cylindrical shape, and the aspect ratio can be 1:1 to 1.1:1, thereby saving space, making installation relatively easy, and adapting to the requirements of miniaturization and mobility of the equipment. In other embodiments, the shield cover 401 may have other shapes such as a barrel shape with an upper opening or a hemispherical shape with an upper opening that can shield the static magnetic field, which will not be further described herein.

[0027] Note that the control main member 500 moves along with the holder 600 under the support of the holder 600. Here, when the holder 600 does not move and the control main member 500 is relatively stationary, and the shield cover 401 surrounds the control main member 500, the strong magnetic field of the control main member 500 is shielded by the shield cover 401. At this time, the control main member 500 is in a magnetically shielded state. When the shield cover 401 retracts from around the control main member 500, the control main member 500 becomes in an unshielded state. In this case, since the movement of the capsule endoscope can be controlled using the strong magnetic field of the control main member 500, the control main member 500 can also be said to be in an operating state. For the control main member 500 in a relatively stationary state, the magnetic field of the control main member 500 belongs to a static magnetic field. The principle by which the shield cover 401 shields the relatively strong static magnetic field around the control main member 500 is to surround the control main member 500 using a material with low coercive force, high magnetic permeability, and high saturation magnetic induction intensity, and establish a magnetic field path for the magnetic field around the control main member 500 to achieve the magnetic field shielding effect.

[0028] In the embodiments of the present application, the slide support component 402 and the slide component 403 constitute a slide assembly, the elevator 404 and the push rod 405 constitute a slide assist assembly, and these two major assemblies constitute an elevating mechanism 406 for driving the shield cover 401 to move up and down. The shield cover 401 can perform a vertical slide simply and smoothly under the drive of the elevating mechanism 406. Here, when the shield cover 401 is provided to circulate around the control main member 500 by moving up and down, it can shield the strong magnetic field of the control main member 500 and achieve the purpose of effectively shielding ferromagnetic and paramagnetic properties. At the same time, the control main member 500 can be flexibly switched between a shielded state and an unshielded state by the elevating mechanism 406. In the automatic control, a hardware basis is provided for the switching operation between the operating state and the shielded state of the control main member 500.

[0029] The control main member 500 hanging on the holder 600 is heavy, and the process of entering the movement to the shield cover 401 is long. Even a slight shake can easily cause the control main member 500 to contact the shield cover 401, which may affect the magnetic shielding effect. Therefore, the shielding device in the present application needs to limit the movement of the control main member 500. In an alternative embodiment, the shielding device further includes a position restricting structure 300 for restricting the movement of the control main member 500 supported by the holder 600, so that the control main member 500 can maintain a static state without being affected (for example, reducing the influence of the suction force of the shield cover 401 on the control main member 500). Specifically, the position restricting structure 300 includes a support structure and a stopper, and the stopper is installed at one end of the support structure close to the control main member 500. The stopper contacts the control main member 500 and / or the holder 600 under the support of the support structure and restricts the movement of the control main member 500 to prevent the control main member 500 from contacting the shield cover 401.

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

[0031] (1) Position regulating structure 300's first option structure As shown in FIGS. 1, 2, and 3, the holder 600 is a robot arm, and the position regulating structure 300 includes a support structure and a stopper. The stopper includes a clamp part 301. The support structure includes a support rod for supporting the clamp part 301. Here, the clamp part 301 is fixed to the top of the support rod and is used to clamp the robot arm and regulate the movement of the control main member 500.

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

[0033] Furthermore, the position regulating structure 300 further includes a concave groove elevator 302. The bottom of the aforementioned support rod is connected to the concave groove elevator 302, and the lifting and lowering are controlled by the concave groove elevator 302. Furthermore, the clamp part 301 can realize the operations of lifting and lowering through the concave groove elevator 302 and the support rod. Thereby, the clamp member 301 plays a role in supporting the control main member 500 corresponding to different heights of the control main member 500. That is, the clamp part 301 can cooperate with the robot arm as much as possible to ensure that the control main member 500 maintains a stationary state without being affected by the shield cover 401.

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

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

[0036] For example, as shown in FIG. 4, if the target plane is the xy plane and the second sub-arm 602 rotates about the axis L1 (the axis L1 extends along the x-axis direction), the projections of the first sub-arm 601 and the second sub-arm 602 on the target plane will be two straight lines with a fixed angle. The wall of the concave groove of the clamp part 301 is provided along the axis L3 (the axis L3 extends along the y-axis direction), and when the first sub-arm 601 rotates around the axis L2 (the axis L2 extends along the z-axis direction), in the process of the first sub-arm 601 moving the second sub-arm 602 and causing it to rotate accordingly while rotating, only one position of the second sub-arm 602 is parallel to the y-axis, and at this position, the second sub-arm 602 can be fitted into the concave groove. Then, by rotating the first sub-arm 601 around the axis L2, the first sub-arm 601 controls the orientation of the magnet 504 in the xy plane. The second sub-arm 602 rotates around the axis L1 and rotates the upper and lower ends of one end close to the magnet 504 of the second sub-arm 602 to control the height along the z-axis direction of the magnet 504.

[0037] In the embodiment of the present application, the above azimuth relationship between the concave groove and the robot arm effectively prevents the movement of the robot arm joint due to the gravitational force of the magnet 504 on the shield cover 401. In addition, the above azimuth relationship between the concave groove and the robot arm, in combination with the height-adjustable concave groove, can more effectively restrict the movement of the robot arm due to the gravitational force of the shield cover 401 on the magnet 504, and can further ensure the continuous holding of the static state of the control main member 500. Further, the concave groove can prevent the influence of the play of the device on the control main member 500 and further prevent the control main member 500 from contacting the shield cover 401.

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

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

[0040] In addition, in the embodiments of the present application, the table surface of the support base 200 is the end surface of the support base 200 facing the control main member 500. The method of attaching the support base 200 to the work stage 100 is diverse. For example, it includes attachment by screw fitting, tenon fitting, and rivet fitting, etc. As long as the connection strength between the two can be guaranteed.

[0041] As an option, as shown in FIG. 4, in order to facilitate the operation of the operator, the shielding device further includes an operating table 700 provided around the support base 200. Tools used by the operator are placed on the operating table 700.

[0042] Specifically, as shown in FIG. 5, the fixing bracket 202 and the support plate 203 can form a "circular table" structure, that is, the fixing bracket 202 is composed of four table legs, the support plate 203 is disk-shaped, and is supported by four table legs.

[0043] Furthermore, as shown in FIG. 6, the stopper includes a protective slide plate 303, and the protective slide plate 303 is installed at the edge of the plate surface of the support plate 203 (the surface facing the control main member 500). Moreover, when the protective slide plate 303 is in an erected state, one side of the protective slide plate 303 facing the shield cover 401 (i.e., the blackened surface in FIG. 5) is a smooth surface. Therefore, the protective slide plate 303 limits the control main member 500 to the support plate 203 and at the same time separates the shield cover 401 that slides around the control main member 500 and the support plate 203. Further, the protective slide plate 303 exerts a good slide guiding action on the shield cover 401. Here, the shield cover 401 is set to surround the outside of the edge of the support base 200, and the shield cover 401 is placed below the support plate 203 or above the support plate 203 by sliding. It should be understood that when the shield cover 401 is disposed below the support plate 203, the control main member 500 is in a non-shielded state, and when the shield cover 401 is disposed above the support plate 203, the control main member 500 is in a shielded state.

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

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

[0046] In addition, when the protective slide plate 303 is in a locked state within the chute 204, the protective slide plate 303 maintains an upright state within the chute 204, which corresponds to the magnetic shielding state of the control main member 500. On the other hand, when the protective slide plate 303 is in an unlocked state within the chute 204, the protective slide plate 303 maintains an inserted (lying horizontally) state within the chute 204, which corresponds to the non-magnetic shielding state of the control main member 500.

[0047] Specifically, there may be a plurality of protective slide plates 303. The plurality of protective slide plates 303 are arranged around the center of the support plate 203 and close to the edge of the support plate 203, thereby surrounding the control main member 500 and forming a space between the control main member 500 and the shield cover 401 to exert a better limiting effect on the control main member 500 and a better sliding guide effect on the shield cover 401. In the present application, as long as the movement or rotation of the protective slide plate 303 relative to the support plate 203 can be realized and the limit function and slide guide function of the protective slide plate 303 can be ensured, the number and installation form of the plurality of protective slide plates 303 are not particularly limited.

[0048] Preferably, the protective slide plates 303 are arranged uniformly and at intervals on the support plate 203. Exemplarily, as shown in FIG. 5, if there are a total of four protective slide plates 303, these four protective slide plates 303 can be installed at the groove ends of the "cross"-shaped chute as shown in FIG. 5. If there are three protective slide plates 303, these three protective slide plates 303 can be installed at the groove ends of the "Y"-shaped chute. If there are eight protective slide plates 303, these eight protective slide plates 303 can be installed at the groove ends of the "rice"-shaped chute. Here, the protective slide plates 303 are provided at the groove ends of the chute, that is, the protective slide plates 303 are provided close to the edge of the support plate 203.

[0049] Referring to FIGS. 1, 2 and 3 together, in the control main member 500, the magnet 504 is a magnetic ball, the main housing 501 at least partially presents a columnar shape, and the height of the protective slide plate 303 can have the radius of the magnetic ball as the lower limit. And in the process of the protective slide plate 303 rotating about its bottom, the maximum angle with the plate surface of the support plate 203 is provided within the range of 90° to 95°. In this range, the protective slide plate 303 can not only well block the inner wall of the shield cover 401 and the main housing 501 to avoid direct contact between the inner wall of the shield cover 401 and the main housing 501, but also there is a space between the shield cover 401 and the control main member 500 due to the protective slide plate 303, so that the shield cover 401 can be smoothly slid against the suction force of the magnet 504.

[0050] Specifically, the above locking structure can adopt a conventional structure. Exemplarily, the chute 204 and the protective slide plate 303 are as shown in FIGS. 5 and 6 (that is, the protective slide plate 303 is in the shape of a rectangular parallelepiped, there are a total of 4 protective slide plates 303, and each is provided at the groove end of each "cross"-shaped chute, and each protective slide plate 303 rotates about the rotation axes A1, A2 inside the bottom). The locking structure includes a spring and the above locking button 205. Two opposing protective slide plates 303 in the chute 204 are interconnected by a connecting spring between the outer rotation axes B1, B2. In this way, when the two opposing protective slide plates 303 are fitted into the groove of the chute 204, the spring is in a natural extension state, and when the protective slide plate 303 is fitted into the chute 204, this state can be locked. However, when the locking button 205 is pressed, the locking button 205 is pushed by the spring to stretch the spring. When the restoring force of the spring pulls the two interconnected protective slide plates 303, the two protective slide plates 303 bounce up and stand upright.

[0051] In particular, in other embodiments, one end of the protective slide plate 303 that abuts against the chute 204 is formed with a rounded shape or an arc shape so that the protective slide plate 303 can rotate flexibly within the chute 204. More preferably, taking the case where the protective slide plate 303 is fitted (horizontally) within the chute 204 as an example, among the ends of the protective slide plate 303 that abut against the chute 204, the side closer to the tabletop of the support base 200 is formed at a right angle, and the side closer to the groove bottom of the chute 204 is formed with a rounded corner or an arc surface.

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

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

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

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

[0056] Regarding the shielding device, any of the above structures of the position regulating structure 300 can be selected under the actually permitted conditions. Further, the above-described plurality of optional structures of the position regulating structure 300 can be used in combination under the actually permitted conditions. For example, as shown in FIG. 1, the first position regulating structure 300 and the third position regulating structure 300 can be used in combination. It should be noted that in some embodiments in which a plurality of position regulating structures 300 are combined, the mounting table 304 needs to be shifted from the arrangement position of the chute 204 on the plate surface of the support plate 203.

[0057] In addition, in the embodiments of the present application, in order to further improve the shielding effect on the control main member 500 of the shielding device, the shielding device further includes a shielding plate (not shown) that is connected to the end of the shielding cover 401 and forms a closed cavity with the shielding cover 401. The control main member 500 is housed in the above-described closed cavity. For example, the support base 200 is formed as a shielding plate to enhance the magnetic shielding effect of the above-described closed cavity.

[0058] For the shielding device provided by the embodiments of the present application, the second embodiment of the present application further provides a magnetic control capsule endoscope system (not shown). This magnetic control capsule endoscope system includes the shielding device according to the above-described embodiment, a ferromagnetic control main member 500, a holder 600 that supports the control main member 500, and a work stage 100 for attaching the holder 600. Here, the holder 600 supports the control main member 500 so as to move it, and the shielding cover 401 in the shielding device is used to shield the control main member 500 supported by the holder 600, avoiding the control main member 500 from having an adverse effect on the surrounding magnetic sensitive elements, and this magnetic control capsule endoscope system can perform a switching operation between an operating state and a shielding state for the control main member 500.

[0059] In this specification, terms such as "first" and "second" should be explained as being used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. Further, the terms "comprising", "including", or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or may also include elements specific to such a process, method, article, or apparatus. Absent further limitation, an element defined by "comprising one" does not exclude the presence of another, same element in a process, method, article, or device that comprises the aforementioned element.

[0060] According to the embodiments of the present application as described above, these embodiments do not detail all details, nor is this disclosure limited to only the specific embodiments described above. Obviously, according to the above description, many modifications and changes are possible. The reason for specifically describing these embodiments in this specification is to better explain the principles and actual applications of the present application, so that those skilled in the art can make good use of the present application and can make modifications and use it based on the present application. The present application is limited only by the claims and all of their scope and equivalents.

Claims

1. A shielding device for shielding the magnetic field of a ferromagnetic control main member supported by a holder, comprising: a shielding cover for shielding the magnetic field, and a lifting mechanism connected to the shielding cover, wherein the lifting mechanism drives the shielding cover to slide along a direction in which the shielding cover approaches or moves away from the control main member, the shielding device further includes a position restricting structure, and the position restricting structure is used to contact the control main member and / or the holder to restrict the movement of the control main member supported by the holder. A shielding device characterized by this.

2. The lifting mechanism includes: a slide support component, a slide component fixedly connected to the shielding cover and sliding along the slide support component to move the shielding cover away from the control main member or to surround the control main member, a lifter, and a push rod for controlling the lifting of the shielding cover via the lifter, wherein the push rod is connected to the shielding cover and moves the shielding cover to slide in a direction in which the shielding cover approaches or moves away from the control main member. The shielding device according to claim 1, characterized by this.

3. The position restricting structure includes a support structure and a stopper, the stopper is provided at one end of the support structure close to the control main member, the stopper contacts the control main member and / or the holder under the support of the support structure and restricts the movement of the control main member. The shielding device according to claim 2, characterized by this.

4. The holder is a robot arm, the support structure includes a support rod, and the stopper includes a clamp component, the support rod is for supporting the clamp component, the clamp component is fixedly provided at the top of the support rod and is used to clamp the robot arm to restrict the movement of the control main member. The shielding device according to claim 3, characterized by this.

5. The robot arm includes a first sub-arm and a second sub-arm connected rotatably, and the clamp component is a concave groove, the concave groove is used to fit the second sub-arm. After the second sub-arm is fitted into the concave groove, the projections of the first sub-arm and the second sub-arm onto the target plane are two straight lines with a fixed angle, and the target plane is the plane where the groove bottom of the concave groove is located. The shielding device according to claim 4, characterized in that in the process of rotation of the first sub-arm, the second sub-arm is fitted into the concave groove only at one position.

6. The position regulating structure further includes a concave groove elevator, and the concave groove elevator enables the clamping component to move up and down by the concave groove elevator and the support rod. The shielding device according to claim 4, characterized in that it is used to control the lifting of the support rod.

7. The support structure includes a support base, the shielding cover is provided outside the support base, and the slide support component is provided on one side of the support base. The support base includes a fixed bracket and a support plate. The support plate is attached by the fixed bracket and is used for placing the control main member. The stopper is provided on one edge of the support plate facing the control main member to limit the movement of the control main member. The shielding device according to claim 3.

8. The stopper includes a protective slide plate, and the protective slide plate is provided at the edge of the plate surface of the support plate, and one surface facing the shielding cover in the standing state is a smooth surface. The shielding device according to claim 7.

9. A chute is provided on the plate surface of the support plate. The protective slide plate is attached to the groove of the chute so as to rotate around its bottom. Here, the protective slide plate is erected in the chute under the magnetic shielding state, while being fitted in the chute under the non-magnetic shielding state. The support base further includes a locking structure, and the locking structure includes a locking button. The shielding device according to claim 8, characterized in that the locking structure controls the protective slide plate to be in a locked state or an unlocked state in the chute by the locking button.

10. The control main member includes a magnet. The magnet is packaged by the main housing. The stopper includes a mounting table, and the mounting table is fixedly provided on the tabletop of the support base to carry the control main member. The shielding device according to claim 7, wherein the tabletop of the mounting table and one end of the main housing close to the mounting table are fitted to each other.

11. The magnetic control capsule endoscope system includes a shielding device according to any one of claims 1 to 10, a ferromagnetic control main member, a holder for supporting the control main member, and a work stage for attaching the holder. The magnetic control capsule endoscope system, wherein the holder supports the control main member so as to move, and the shielding cover of the shielding device shields the control main member supported by the holder.

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