Control method, positioning method, control apparatus, and positioning apparatus for magnetically controlled capsule system

Abstract

Disclosed are a control method, positioning method, control apparatus, and positioning apparatus for a magnetically controlled capsule system. The control method comprises: continuously acquiring measurement state data of a capsule endoscope; controlling a control magnet to move until magnetic field state data is at a maximum and / or the capsule vertical inclination angle of the capsule endoscope is at a minimum; and correcting the capsule spin angle of the capsule endoscope. In the method, the capsule endoscope is controlled on the basis of a first angle of view of an image of the capsule endoscope, so that it is possible to precisely control the movement or pose adjustment of the capsule endoscope.

Description

Control method, positioning method and device of magnetically controlled capsule system

[0001] Cross-references

[0002] This application claims priority to a Chinese patent application filed on July 19, 2023, with application number 202310893724.2, entitled “Control method, positioning method and device for a magnetically controlled capsule system,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to the technical field of medical equipment, and in particular to a control method, a positioning method and a device for a magnetically controlled capsule system. Background Art

[0004] In vivo device positioning technology, such as wireless capsule endoscopes and invasive medical devices, is gaining increasing attention. Magnetically controlled capsule systems drive the movement of magnets, generating magnetic forces that propel the capsule endoscope through the body. During this movement, the capsule endoscope captures images of the digestive tract. Currently, there are two main control methods for driving capsule endoscopes: manual analog control that relies on visual feedback from capsule-captured images, and automated quantitative control that leverages capsule positioning information.

[0005] In the process of implementing the present invention, the inventors found that these two control methods have at least the following problems:

[0006] (1) On the one hand, the accuracy of manual simulation control is low, and it is difficult to accurately control the capsule endoscope to capture images at a certain position. In addition, since the images of many positions in the digestive tract are highly similar, and the capsule endoscope is almost in an unconstrained state in the gastric cavity, how to accurately identify and how to control the movement of the capsule endoscope are very demanding for the operator, which is inefficient and has a high possibility of missed detection.

[0007] (2) Automated quantitative control requires the real-time posture information fed back by the positioning device, and requires hardware and software that match the positioning device. It has high requirements for the equipment. If the equipment conditions cannot be met, the movement and photography of the capsule endoscope cannot be accurately controlled.

[0008] Therefore, the current control method still has shortcomings and cannot well meet the needs of medical examinations.

[0009] Summary of the Invention

[0010] To solve at least one of the above-mentioned problems in the prior art, the present invention aims to provide a control method, a positioning method and an apparatus for a magnetically controlled capsule system that can accurately control the movement of a capsule endoscope without relying on a positioning device.

[0011] To achieve the above-mentioned object of the invention, one embodiment of the present invention provides a control method for a magnetically controlled capsule system, wherein the magnetically controlled capsule system includes a control magnet and a capsule endoscope, and the control method includes the following steps:

[0012] Step S10: continuously acquiring measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data;

[0013] Step S20: Control the control magnet to move at the same height, and adjust the posture of the control magnet until the magnetic field state data is maximum, and / or the capsule vertical tilt angle of the capsule endoscope is minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data; Step S30: Correct the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image acquired by the capsule endoscope.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The application of this method can make the subsequent movement or posture adjustment direction of the capsule endoscope consistent with the direction on the acquired image by relying only on the measurement status data obtained by the capsule endoscope without relying on the positioning device. That is to say, the movement or posture adjustment of the capsule endoscope can be controlled based on the first-person perspective of the image of the capsule endoscope, and the capsule endoscope can be controlled in the form of "what you want is what you get". The adjustment of the capsule endoscope can be accurately controlled, the demand for the physician's ability is reduced, and the ability conditions of more physicians are met, which is conducive to the promotion and application of the magnetically controlled capsule system.

[0015] (2) The capsule endoscope is controlled based on the first-person perspective of the capsule endoscope image, which can obtain images within the required field of view, thereby improving the efficiency of the inspection, avoiding the problem of missed inspection, and meeting the needs of doctors.

[0016] (3) Without relying on positioning equipment, the capsule endoscope is positioned by first controlling the magnet to reach directly above the capsule endoscope, meeting the demand for precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic structural diagram of a magnetically controlled capsule system for digestive tract examination according to an embodiment of the present invention.

[0018] FIG2 is a schematic diagram of magnet state data of a control magnet according to an embodiment of the present invention;

[0019] 3 is a schematic diagram of measurement status data of a capsule endoscope according to an embodiment of the present invention;

[0020] FIG4 is a flow chart of a control method of a magnetically controlled capsule system according to a first embodiment of the present invention;

[0021] FIG5 is a flow chart of a specific embodiment of step S20 in FIG4 ;

[0022] 6 is a characteristic diagram showing the change of the capsule vertical tilt angle Cv and the magnetic field state data B with position according to an embodiment of the present invention;

[0023] 7 is a schematic diagram of the field of view of a capsule endoscope according to an embodiment of the present invention;

[0024] FIG8 is a schematic diagram of spin correction of a capsule endoscope according to an embodiment of the present invention;

[0025] 9 is a schematic diagram of a capsule endoscope according to a first embodiment of the present invention adjusting its direction based on a first viewing angle;

[0026] 10 is a flow chart of a control method of a magnetically controlled capsule system according to a second embodiment of the present invention;

[0027] FIG11 is a flowchart of a specific embodiment of step S50 in FIG10 ;

[0028] 12 is a schematic diagram of the capsule endoscope performing step S40 at the bottom of the digestive tract according to the second embodiment of the present invention;

[0029] 13 is a schematic diagram of the capsule endoscope performing step S50 at the bottom of the digestive tract according to the second embodiment of the present invention;

[0030] 14 is a schematic diagram of the capsule endoscope performing step S40 at the top of the digestive tract according to the second embodiment of the present invention;

[0031] 15 is a schematic diagram of the capsule endoscope performing step S50 at the top of the digestive tract according to the second embodiment of the present invention;

[0032] 16 is a schematic diagram of the distribution of lens field of view angles of a capsule endoscope according to a second embodiment of the present invention;

[0033] 17 is a schematic diagram of the movement path of the capsule endoscope lens when executing step S50 according to the second embodiment of the present invention;

[0034] FIG18 is a diagram showing the effect of expanded image data obtained according to the second embodiment of the present invention;

[0035] FIG19 is a flow chart of a positioning method for a magnetically controlled capsule system according to a third embodiment of the present invention;

[0036] FIG20 is a block diagram of a control device for a magnetically controlled capsule system according to a first embodiment of the present invention;

[0037] FIG21 is a block diagram of a control device for a magnetically controlled capsule system according to a second embodiment of the present invention;

[0038] FIG22 is a schematic diagram of a module of a positioning device of a magnetically controlled capsule system according to a third embodiment of the present invention;

[0039] FIG23 is a block diagram of a magnetically controlled capsule system according to an embodiment of the present invention;

[0040] Among them, 100, magnetically controlled capsule system; 10, capsule endoscope; 11, inertial measurement unit; 12, camera unit; 13, data processing and transmission unit; 14, power supply unit; 15, permanent magnet unit; 20, magnetic control system; 21, control magnet; 22, motor drive device; 23, signal transmission module; 24, storage module; 25, processing module; 26, communication bus. DETAILED DESCRIPTION

[0041] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0042] An embodiment of the present invention provides a control method, a positioning method, and an apparatus for a magnetically controlled capsule system that can accurately control the movement of a capsule endoscope without relying on a positioning device.

[0043] Magnetically controlled capsule system The magnetically controlled capsule system of this embodiment may include a capsule endoscope 10 and a magnetic control system. The magnetic control system includes a control magnet 21. The control magnet 21 can drive the capsule endoscope 10 to move. As shown in Figure 1, the capsule endoscope 10 can be located in the digestive tract. The control magnet 21 controls the capsule endoscope 10 to move in the digestive tract, for example, in the stomach, and takes images of the stomach.

[0044] The capsule endoscope 10 and the magnetic control system can interact with each other through both magnetic forces and information data. The magnetic control system also includes a motor drive device, which is used to control the movement of the control magnet 21. During the movement, the motor drive device can obtain magnetic state data of the control magnet 21, including magnet position data and magnet posture data, to move the control magnet 21 to the desired position and posture.

[0045] The capsule endoscope 10 includes a permanent magnet unit and a lens. The permanent magnet unit has an axially magnetized cylindrical structure, and the lens is used to capture images. A motor drive device controls the movement of the control magnet 21 while simultaneously applying a magnetic force to the permanent magnet unit, thereby controlling the movement of the capsule endoscope 10. When the capsule endoscope 10 is located inside the human digestive tract, the person lies flat on a bed, and a magnetic control system is provided outside the person. During an examination, the motor drive device drives the control magnet 21 to generate a magnetic field, which drives the capsule endoscope 10 to move within the human digestive tract. Furthermore, the magnetic control system can also send a signal to the capsule endoscope 10 instructing it when to capture an image.

[0046] The capsule endoscope 10 also includes an inertial measurement unit (IMU), which includes a three-axis accelerometer, a gyroscope, and a three-axis magnetometer. The IMU provides necessary navigation information feedback and realizes more accurate and convenient intelligent control of the capsule endoscope based on inertial navigation. The following describes in detail the control method of the first perspective based on inertial navigation.

[0047] Furthermore, before introducing the specific method, the spatial coordinates are first explained. Embodiments 1, 2, and 3 of this document can all calculate specific values ​​based on this coordinate system.

[0048] As shown in Figure 2, a Cartesian world coordinate system is established for the space in which the magnetically controlled capsule system resides. The control system software allows real-time acquisition of the magnet state data of the control magnet 21. This magnet state data includes magnet position data and magnet attitude data. The magnet position data is represented by [Mx, My, Mz], and the magnet attitude data is represented by [Mh, Mv]. [Mx, My, Mz] represents the positional offset of the center of the control magnet 21 in the world coordinate system, Mh is the horizontal azimuth, and Mv is the vertical tilt angle. The magnetic field of the control magnet 21 exhibits rotational symmetry about the attitude orientation axis at the distal end, resulting in two independent degrees of freedom. The attitude orientation angle of the north pole of the control magnet 21 is determined by the horizontal azimuth and vertical tilt angle. As shown in Figure 2, the horizontal azimuth is the angle between the magnetic pole orientation of the control magnet 21 and the projection vector of the coordinate system's XY plane onto the positive Y-axis. The vertical tilt angle is the angle between the magnetic pole orientation of the control magnet 21 and the positive Z-axis of the coordinate system.

[0049] As shown in Figure 3, the parameters of the capsule endoscope 10 are also based on this world coordinate system. The inertial measurement unit (IMU) data components are [gx, gy, gz, wx, wy, wz, bx, by, bz]. [gx, gy, gz] represent the three-axis acceleration components measured by the accelerometer; [wx, wy, wz] represent the three-axis angular velocity components measured by the gyroscope; and [bx, by, bz] represent the three-axis magnetic field components measured by the magnetometer. Theoretically, the pose of the capsule endoscope 10 includes capsule position data [Cx, Cy, Cz] and capsule attitude data [Ch, Cv, Cs]. The capsule vertical tilt angle Cv is defined as the angle between the head (lens end) of the capsule endoscope 10 and the positive Z axis; the capsule horizontal azimuth angle Ch is defined as the angle between the projection vector of the capsule endoscope 10's head on the XY plane and the positive Y axis; and the capsule spin angle Cs is the orientation angle of the capsule endoscope 10's lens. In addition, due to the lack of positioning equipment, the capsule position data and capsule posture data cannot be obtained directly.

[0050] Preferably, a coordinate system is established using the capsule lens of the capsule endoscope 10 as a reference, with the Z axis pointing toward the lens along the capsule's long axis, the XY plane perpendicular to the Z axis, and the Y axis fixed to the direction in which the lens is upright. At this point, the capsule spin angle Cs = 0. During assembly of the capsule endoscope 10, the XY coordinates of the capsule lens and the inertial measurement unit can be aligned to eliminate the need for later correction of the capsule spin angle. In other words, if coordinate alignment is not performed, compensation can be performed in subsequent steps.

[0051] The following describes a control method and positioning method for a magnetically controlled capsule system according to an embodiment of the present invention, with reference to Figures 1 to 19. The methods are divided into three embodiments. Embodiment 1 controls the capsule endoscope 10 to move or adjust its posture along the direction of a first viewing angle from which the capsule endoscope 10 acquires images. Embodiment 2 controls the capsule endoscope 10 to acquire images within a desired field of view while following the direction of the first viewing angle. Embodiment 3 acquires position information of the capsule endoscope 10 without providing positioning data from a positioning device.

[0052] In Example 1, the method steps of Example 1 can be completed based solely on the acceleration data and / or magnetic field state data obtained by the inertial measurement unit. In Example 1, the capsule spin angle Cs is fixed. In Example 2, the method steps are calculated based solely on the capsule vertical tilt angle Cv and the capsule horizontal azimuth angle Ch, combined with the magnetic attitude data [Mh, Mv] of the control magnet.

[0053] In both Embodiment 1 and Embodiment 2, it is not necessary to calculate the capsule position data [Cx, Cy, Cz].

[0054] Example 3 can determine the 6-DOF (Degrees of Freedom) complete state parameters [Cx, Cy, Cz, Ch, Cv, Cs] of the capsule endoscope.

[0055] Although this application provides the method operation steps shown in the following embodiments or flowcharts, based on routine or no creative effort, the execution order of the steps in the method that are not logically causally related is not limited to the execution order provided in the embodiments of this application. For example, the order of obtaining step S10 and other steps below can be adjusted arbitrarily, without distinguishing the order in time.

[0056] Example 1: A control method of a magnetically controlled capsule system

[0057] Example 1, as shown in FIG4 to FIG9 , introduces a control method for a magnetically controlled capsule system.

[0058] Specifically, as shown in FIG4 , the process includes the following steps:

[0059] Step S10: continuously acquiring measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data.

[0060] Step S20: Controlling the control magnet to move at the same height and adjusting the position of the control magnet until the magnetic field state data reaches a maximum and / or the capsule vertical tilt angle of the capsule endoscope reaches a minimum, wherein the capsule vertical tilt angle is calculated based on the acceleration data. Step S30: Correcting the capsule spin angle of the capsule endoscope so that the direction of the capsule endoscope during movement or posture adjustment is consistent with the direction on the image captured by the capsule endoscope.

[0061] First, in step S10, the acceleration data is [gx, gy, gz] acquired by the accelerometer, and the magnetic field state data is [bx, by, bz] acquired by the magnetometer. Additionally, the measurement state data may include [wx, wy, wz] acquired by the gyroscope. This measurement state data is continuously acquired in real time and is updated over time in subsequent steps to facilitate the state parameter calculation, state feedback, and capsule control operations required in subsequent steps.

[0062] In addition, considering that the magnetic field value measured by the magnetometer includes three sources: the ambient background magnetic field, the capsule magnet background magnetic field, and the control magnet magnetic field, since the weaker ambient background magnetic field can usually be ignored and the capsule magnet background magnetic field can be accurately deducted in advance, the capsule magnetometer can easily separate the more accurate net magnetic field value of the control magnet. In other words, the magnetic field state data in this embodiment can only be the magnetic field generated by the control magnet, that is, B = [bx, by, bz].

[0063] Secondly, in step S20, the control magnet is moved stably, accurately and quickly to the top of the capsule. This is very beneficial because when the control magnet is located directly above the capsule endoscope, it provides the maximum control magnetic force to the capsule and can provide all-round posture control for the capsule.

[0064] Step S20 includes multiple implementations, including:

[0065] (1) adjusting the position of the control magnet based on the direction that maximizes the magnetic field state data;

[0066] (2) adjusting the position of the control magnet based on the direction that minimizes the vertical tilt angle of the capsule;

[0067] (3) Adjusting the position of the control magnet based on the direction that maximizes the magnetic field state data and minimizes the vertical tilt angle of the capsule.

[0068] The following takes the maximum magnetic field state data and the minimum capsule vertical tilt angle of implementation mode (3) as examples for explanation. Based on this explanation, those skilled in the art can understand the implementation principles of implementation modes (1) and (2).

[0069] As shown in FIG5 , step S20 further includes steps S21 to S23:

[0070] Step S21: controlling the movement of the control magnet in coordination with the magnetic field state data and the vertical tilt angle of the capsule.

[0071] In step S21, the magnetic field state data is directly determined based on B = [bx, by, bz] obtained by the magnetometer, and the capsule vertical tilt angle Cv can be determined based on [gx, gy, gz] obtained by the accelerometer. Specifically, the calculation formula of the capsule vertical tilt angle Cv is: Where g is the gravitational acceleration constant. During the process of controlling the movement of the control magnet, the magnetization direction of the control magnet can be controlled to be vertical, and the control magnet can be controlled to translate within a plane perpendicular to the vertical direction while maintaining the magnetization direction unchanged. The translation is in a direction that gradually decreases the vertical tilt angle of the capsule and / or gradually increases the magnetic field state data.

[0072] Because users generally have the same body shape, the system settings allow the control magnet to be maintained at a constant height, moving only in the XY plane. When moved directly above the capsule endoscope, the capsule endoscope is prevented from sinking completely to the bottom or completely adhering to the ceiling. Instead, the capsule endoscope's bottom is supported by the lower wall of the digestive tract, with the top of the capsule endoscope pointing vertically upward, or the bottom of the capsule endoscope is supported by the upper wall of the digestive tract, with the top of the capsule endoscope pointing vertically downward. When the control magnet maintains a constant height and moves only in the XY plane, the distribution of the capsule's vertical tilt angle Cv and magnetic field state data B is shown in Figure 6.

[0073] As shown in Figure 6 , when the control magnet is directly above the capsule endoscope, the capsule endoscope is pointing vertically upward. At this time, the capsule vertical tilt angle Cv approaches 0, and the magnetic field amplitude value B obtained by the magnetometer from the magnetic field generated by the control magnet reaches a maximum value in the XY plane. If the capsule endoscope deviates from the position directly below the control magnet in any orientation in the XY plane, the capsule vertical tilt angle Cv will increase, and the magnetic field state data B will decrease. Therefore, the distribution of the capsule vertical tilt angle Cv and the magnetic field state data B are both symmetrical about the Z-axis. How to gradually decrease the capsule vertical tilt angle Cv and / or gradually increase the magnetic field state data B is a convex optimization problem. Based on the states and changing trends of Cv and B, and in conjunction with the magnetic field state data and the capsule vertical tilt angle, it is easy to quickly and accurately move the control magnet directly above the capsule endoscope.

[0074] In addition, during the process of controlling the movement of the control magnet, if the capsule vertical tilt angle remains unchanged, the control magnet is continuously moved until the capsule vertical tilt angle changes. This indicates that the control magnet is far away from the capsule endoscope and the magnetic force acting on the capsule endoscope is weak. Therefore, the capsule vertical tilt angle Cv value remains unchanged when the control magnet is moved. The control magnet can be continuously driven closer to the capsule endoscope until the capsule vertical tilt angle Cv value changes to a certain extent. Then, the movement path is optimized in conjunction with the magnetic field state data and the capsule vertical tilt angle to improve the efficiency and accuracy of the control magnet in finding the capsule.

[0075] In the process of controlling the movement of the control magnet, if the vertical tilt angle of the capsule increases and the magnetic field state data decreases, the control magnet is controlled to move in the opposite direction.

[0076] Step S22: Determine whether the magnetic field state data is maximized and / or the vertical tilt angle of the capsule is minimized.

[0077] When the judgment result of step S22 is no, the process returns to step S21; when the judgment result of step S22 is yes, the process proceeds to step S23. Step S23: Control the magnet to move to the position directly above the capsule endoscope.

[0078] Furthermore, after step S20, the following steps may be preferably included:

[0079] calculating the height of the capsule endoscope according to the magnetic field state data;

[0080] The height of the control magnet is adjusted so that the height of the capsule endoscope is within a set range.

[0081] As mentioned above, although the control magnet can be maintained at a certain height to ensure that the capsule endoscope does not completely sink to the bottom or completely stick to the ceiling, after the control magnet is moved to the top of the capsule endoscope, the height difference between the capsule endoscope and the control magnet can be calculated, and the height can be further limited. At this time, the calculation formula for the center height distance Z0 of the capsule endoscope and the control magnet is:

[0082] Right now;

[0083] Where μ0 is the vacuum magnetic permeability, and M is the magnetic moment of the control magnet. This allows quantitative adjustment of the height difference Z0 between the control magnet and the capsule endoscope, providing an appropriate control magnetic force. This ensures that when imaging the upper half of the stomach, the capsule endoscope does not exceed a critical height and be sucked toward the top of the stomach. Furthermore, when necessary, the height difference between the control magnet and the capsule endoscope can be precisely and quickly adjusted to ensure that the capsule endoscope is lifted and moved between the bottom and top.

[0084] After step S20, since there is no restriction on the capsule rotation angle Cs, the value of the capsule rotation angle Cs can be any value. At this point, step S30 is executed to fix the value of the capsule rotation angle Cs, thereby facilitating control of the capsule endoscope at its own first-view angle. For step S30, see Figures 7 and 8. Figure 7 is a schematic diagram of the imaging field of view, where H+ represents the positive direction of the image horizontal axis and V+ represents the positive direction of the image vertical axis. In Figure 8, when the directions of H+ and Hw are aligned, and the directions of V+ and Vw are aligned, Cs = 0, and the image is corrected to a state where Cs = 0.

[0085] During the calibration process of step S30, the capsule spin angle value can be obtained by the inertial measurement unit and then corrected to Cs=0, where

[0086] In addition, considering the complex environment in the digestive tract, such as the peristalsis of the stomach, the capsule endoscope may not be completely static. When calculating the capsule attitude angle, the accelerometer and gyroscope status information can be combined for complementary filtering to enhance the dynamic accuracy of the capsule attitude angle.

[0087] After executing the above steps S10 to S30, in the absence of additional positioning equipment, the control magnet is located directly above the capsule endoscope. The subsequent manipulation of the control magnet can be directly based on the orientation of the captured image and accurate direction control based on visual feedback. The current image obtained is consistent with the upright cubic orientation during first-person perspective real-life measurement. Adjusting the control with reference to the field of view angle of the current image is in line with the intuitive habits of the human eye.

[0088] When the capsule endoscope needs to be adjusted, if the capsule is adjusted to the left, the lens of the capsule endoscope will be pointed leftward; if the capsule is adjusted upward, the lens of the capsule endoscope will be pointed upward; the control effects in other directions are similar. At this time, a schematic diagram of the capsule endoscope's direction adjustment based on the first-person perspective field of view is shown in Figure 9. If the capsule endoscope needs to be adjusted, the posture is adjusted along the eight directions shown in Figure 9 (up, down, left, right, upper left, upper right, lower left, and lower right) based on the first-person perspective, thus expanding the field of view.

[0089] When the movement of the capsule endoscope needs to be controlled, if the capsule endoscope is moved to the left, the capsule endoscope moves to the left; if the capsule endoscope is moved upward, the capsule endoscope moves upward; the control effects of other directions are similar.

[0090] Therefore, when controlling the capsule endoscope to adjust its posture or move, the direction of adjustment or movement is consistent with the observation habits of the human eye, and the operating state is "what you think is what you get," achieving the effect of stable control of the capsule endoscope's first-person perspective.

[0091] Example 2: Another control method for a magnetically controlled capsule system

[0092] As shown in Figures 10 to 18, Example 2 can be based on the "first perspective" control of Example 1 and continue to perform other steps. As shown in Figure 10, the control method of the magnetically controlled capsule system of this embodiment further includes steps S40 to S80 based on steps S10 to S30 of Example 1:

[0093] Step S40: Acquire image data captured by the capsule endoscope.

[0094] In Figures 12 and 13 , the capsule endoscope 10 is positioned in the lower portion of the gastric cavity (sunken to the bottom), with the lens facing upward for imaging. In Figures 14 and 15 , the capsule endoscope 10 is positioned in the upper portion of the gastric cavity (ceiling-mounted), with the lens facing downward for imaging. Figures 12 and 14 correspond to step S40 in these two states, respectively. Furthermore, Figures 13 and 15 correspond to step S50 below, in these two states, respectively.

[0095] Step S50: On the basis of maintaining the position of the control magnet 21 unchanged, adjusting the posture of the control magnet 21 to obtain a plurality of peripheral image data outside the field of view corresponding to the image data.

[0096] Step S50 adjusts the attitude of the control magnet 21 while maintaining the position of the control magnet 21 unchanged, so that the position of the capsule endoscope 10 remains unchanged and only the attitude is adjusted. In other words, step S50 quantitatively controls the magnet attitude data [Mh, Mv] of the control magnet 21 to change the capsule attitude data [Ch, Cv] of the capsule endoscope 10.

[0097] The capsule endoscope 10 of this embodiment preferably adopts a fisheye lens, i.e., a wide-angle lens, with a large field of view (e.g., 140-160 degrees). The spherical scene is compressed and mapped to a plane image. The image angle distribution is shown in FIG16 , where the numerical value represents the angle of deviation from the central axis of the field of view, and the square area is the actual image capture area of ​​the imaging unit.

[0098] As shown in the transitions from Figures 12 to 13 and 14 to 15 , the control magnet 21 adjusts its position within its original position, allowing the capsule endoscope 10 to face different directions relative to its original position. Controlling the magnet 21 to direct the lens in different directions is similar to how a person can control themselves to remain stationary while their brain moves in different directions. Controlling the direction of brain movement is based on the first-person perspective of the human eye. Therefore, the control process of the capsule endoscope 10 in this embodiment, as shown in Figures 12 to 13 and 14 to 15 , is consistent with human visual habits and provides more convenient operation.

[0099] Step S50 further includes adjusting the posture of the control magnet 21 to move the field of view of the capsule endoscope 10 toward a target direction, wherein the target direction is a direction extending from the field of view corresponding to the image data to the field of view corresponding to the peripheral image data. By adjusting the field of view, the capsule endoscope 10 can scan and capture a desired target area.

[0100] And in step S50, by adjusting the posture of the control magnet 21, the newly obtained peripheral image data retains part of the image within the field of view corresponding to the image data and also includes the image outside the field of view corresponding to the image data.

[0101] In this embodiment, taking Figure 16 as an example, the field of view angle is translated by 20 to 30 degrees, which is a translation of about 1 / 4 of the scale in Figure 16. In this way, the center area of ​​the image after translation can retain about 50% to 80% of the image content before translation. This can take into account both control efficiency and visual effects, and can significantly adjust the center position of the field of view without losing the reference target area, so as to achieve a better first-person perspective field of view translation control effect.

[0102] Further, referring to Figures 9 and 17, what is acquired in step S40 is the image in the middle, and step S50 can continue to acquire multiple peripheral image data, which include peripheral image data at eight positions above, below, left, right, upper left, upper right, lower left, and lower right of the image data, thereby expanding the small square area in the middle into a large square area.

[0103] Furthermore, as shown in FIG11 , step S50 includes the following steps S51 to S54:

[0104] Step S51: obtaining the expected movement amount of the field of view of the capsule endoscope.

[0105] Step S52: Calculating the posture adjustment amount of the capsule endoscope according to the expected movement amount of the field of view.

[0106] Step S53: Calculating the attitude adjustment amount of the control magnet according to the attitude adjustment amount of the capsule endoscope.

[0107] Step S54: controlling the control magnet to adjust a corresponding change amount according to the attitude adjustment amount of the control magnet.

[0108] Specifically, in step S51, the expected field of view movement can be considered as the translation amount [dh, dv] in the two-dimensional HV plane, where dh controls the horizontal field of view translation amplitude, and dv controls the vertical field of view translation amplitude. After the capsule endoscope's field of view is adjusted according to the expected field of view movement, the center of the lens's field of view can be oriented toward the new target orientation, enabling arbitrary amplitude adjustment of the capsule endoscope's field of view. For example, in Figure 17, the original lens's field of view center is oriented toward the center of the box, and the expected field of view movement can be used to adjust the lens's field of view center toward the box on the left.

[0109] For example, taking the 20-degree translation range of the field of view angle of 20 to 30 degrees as an example, and it is necessary to make translations in the eight directions of up, down, left, right, upper left, upper right, lower left, and lower right in Figure 17, then when the field of view is translated to the right, the expected movement of the field of view is [20, 0], when the field of view is translated to the left, the expected movement of the field of view is [-20, 0], when the field of view is translated upward, the expected movement of the field of view is [0, -20], when the field of view is translated downward, the expected movement of the field of view is [0, 20], when the field of view is translated to the lower left, the expected movement of the field of view is [-20, 20], and so on.

[0110] In step S52, assuming that the current capsule posture data is [Ch, Cv], the required posture adjustment amount of the capsule endoscope is [rh, rv] to achieve the expected field of view movement amount [dh, dv] in the above HV plane. The calculation formula is as follows:

[0111] Among them, θ1 and θ2 are Euler angles used for auxiliary calculations, and the calculation formula is: After the posture adjustment amount [rh, rv] of the capsule endoscope is calculated according to the above formula, the posture of the capsule endoscope is adjusted according to the posture adjustment amount, and the adjusted target capsule posture data is [Ch+rh, Cv+rv].

[0112] For example, if the current capsule pose data [Ch, Cv] = [50, 40], the expected leftward movement of the field of view [dh, dv] = [-20, 0], and the corresponding capsule endoscope pose adjustment amount [rh, rv] = [-29.5, 4.0], the adjusted target capsule pose data is [20.5, 44.0]. If the expected upward movement of the field of view [dh, dv] = [0, -20], and the corresponding capsule endoscope pose adjustment amount [rh, rv] = [0, -20], the adjusted target capsule pose data is [50, 20].

[0113] In step S53, the attitude adjustment amount of the control magnet is calculated based on the attitude adjustment amount [rh, rv] of the capsule endoscope, and the value of the magnet attitude data [Mh, Mv] of the control magnet is adjusted.

[0114] Then, in step S54, the capsule's field of view is shifted relative to the target area by the desired amount [dh, dv], adjusting the center of the field of view to the target area. Multiple peripheral image data sets are then sequentially acquired. For example, the movement trajectory shown in Figure 13 enables stable scanning of the digestive tract wall in accordance with the operator's desired time sequence, avoiding the difficulty of determining the location of a specific part of the image due to a lack of context.

[0115] Step S60: splicing the image data and the peripheral image data to obtain expanded image data.

[0116] This step can be combined with existing image registration and image stitching technologies to expand the observation field of the target area. The expanded image data is shown in FIG18 , and smaller image data are stitched into larger expanded image data.

[0117] Step S70: controlling the control magnet to move so as to move the capsule endoscope to the next control node.

[0118] In the process of moving to the next control node, the forward and backward quantitative control based on the first viewing angle of the capsule endoscope as in the above embodiment 1 can be performed; or the control based on the calculated coordinate values ​​as in the following embodiment 3 can be performed.

[0119] Ways of controlling the capsule endoscope to move to the next control node may include dragging, rolling, or jumping, among which rolling and jumping control can achieve quantitative control with higher quality.

[0120] Taking tumbling as an example, the tumbling action realizes the displacement of the capsule endoscope forward and backward by about the circumference of the long axis of the capsule endoscope. If a larger range of transfer is required, the tumbling action can be performed in multiple steps, that is, moving a distance of n circumferences. For a smaller range of transfer, it can be achieved by two-step zigzag path tumbling. After the tumbling action is performed normally, the control magnet will be located near the top of the new position of the capsule endoscope, so the first-angle control adjustment of the field of view image acquisition in the above steps S40 to S60 can be performed continuously. If the execution fails, start again from the above step S20, restore the control magnet to the top of the capsule endoscope, and then perform the tumbling action again.

[0121] Taking jumping as an example, the jumping action is combined with the above formula 2, using the quantitative offset of the control magnet in the XY plane and the height adjustment in the Z direction to suck up and drop the capsule endoscope. The centripetal characteristics of the magnetic field attraction are used to achieve the capsule endoscope following the position of the control magnet and crossing larger obstacles. After the jumping action is executed normally, the control magnet is located near the new position of the capsule endoscope, and the first-angle control adjustment of the field of view image acquisition in steps S40 to S60 can be executed continuously. Similarly, if the execution fails, you can start again from the above step S20, restore the control magnet to be directly above the capsule endoscope, and execute the jumping action again.

[0122] Step S80: On the basis of continuously executing step S10, steps S20 to S70 are executed in a loop until the inspection is completed.

[0123] Because the water-injected or air-inflated stomach has an irregular 3D cavity structure, the depth of field of the capsule endoscope is limited, and it can only obtain clearer images of the stomach wall in local areas. Scanning at multiple different nodes is necessary to achieve a high-quality, complete stomach wall examination without omissions.

[0124] By moving the capsule endoscope to multiple different control nodes and executing the image capture and stitching steps S40 to S60 at each control node, the first-person perspective capsule endoscope control aligns with human visual perception, allowing for complete images of various regions within the digestive tract and improving inspection efficiency. Inspection completion criteria can be determined based on inspection completion, inspection completion time, and inspection completion instructions.

[0125] Example 3: Positioning method of magnetically controlled capsule system

[0126] The difference between Example 3 and Example 1 is that Example 1 is to control the subsequent movement of the capsule endoscope based on the "first perspective", while Example 3 is to obtain the position information of the capsule endoscope without the positioning data provided by the positioning device.

[0127] As shown in FIG19 , the positioning method includes the following steps:

[0128] Step S10: continuously acquiring measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data.

[0129] Step S20: Control the control magnet to move at the same height and adjust the posture of the control magnet until the magnetic field state data is maximized and / or the vertical tilt angle of the capsule endoscope is minimized, wherein the vertical tilt angle of the capsule is calculated based on the acceleration data.

[0130] Step S10 ′: acquiring magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet posture data.

[0131] Here, step S10' can be performed simultaneously with step S10, or the acquisition can be continued all the time.

[0132] Step S24: determining the capsule position data of the capsule endoscope according to the current magnet position data.

[0133] After step S20, the magnet is controlled to reach the top of the capsule endoscope. At this time:

[0134] The x-axis coordinate of the capsule endoscope is the same as the x-axis coordinate of the capsule endoscope;

[0135] The y-axis coordinate of the capsule endoscope is the same as the y-axis coordinate of the capsule endoscope;

[0136] The z-axis coordinate of the capsule endoscope is calculated according to the magnetic field state data.

[0137] For example, if Mx and My are both 0, then Cx=Cy=0, and Cz=-Z0, where the calculation formula of Z0 refers to the above formula 2.

[0138] Step S25: determining the capsule posture data of the capsule endoscope according to the current measurement state data and the magnet posture data.

[0139] The capsule posture data includes the capsule horizontal azimuth angle, the capsule vertical tilt angle, and the capsule spin angle, and the magnet posture data includes the magnet horizontal azimuth angle. When the magnetic field state data is maximum and / or the capsule vertical tilt angle of the capsule endoscope is minimum, the capsule vertical tilt angle is zero. At this time, the capsule vertical tilt angle Cv, as described above, does not necessarily have to be strictly zero and can be a value close to zero.

[0140] When the control magnet reaches the top of the capsule endoscope, the capsule endoscope is almost parallel to the Z axis. At this time, the horizontal azimuth angle of the capsule can be any value, which has no practical significance or impact.

[0141] The step of determining the capsule posture data of the capsule endoscope according to the current measurement state data and the magnet posture data further includes: calculating the capsule spin angle according to the acceleration data.

[0142] After the magnetic field state data reaches a maximum and / or the capsule vertical tilt angle of the capsule endoscope reaches a minimum, the following steps are executed:

[0143] Adjusting the posture of the control magnet so that the vertical tilt angle of the capsule is not zero;

[0144] The horizontal azimuth angle of the capsule is equal to the horizontal azimuth angle of the magnet.

[0145] At this time, the capsule vertical tilt angle Cv can be calculated according to the above formula 1, the capsule spin angle Cs can be calculated according to the above formula 3, and the capsule horizontal azimuth angle Ch approaches the horizontal azimuth angle Mh of the magnet.

[0146] In addition, the dynamic accuracy of the capsule vertical tilt angle Cv and the capsule spin angle Cs can be enhanced based on the complementary filtering of [wx, wy, wz] obtained by the gyroscope and [gx, gy, gz] obtained by the accelerometer, thereby reducing the limitation on the relative stillness of the capsule endoscope.

[0147] Therefore, in Example 3, without positioning by a positioning device, the control magnet can be first controlled to reach directly above the capsule endoscope, and then, on this basis, the 6-DOF complete state parameters [Cx, Cy, Cz, Ch, Cv, Cs] of the capsule endoscope can be calculated, thereby meeting the positioning requirements when the equipment conditions are low, facilitating the subsequent more accurate scanning control of the capsule endoscope from the first perspective, optimizing the angle and distance of the capsule endoscope shooting, and giving full play to the optimal performance of the capsule endoscope imaging hardware system.

[0148] Compared with the prior art, the embodiments provided by the present invention have the following beneficial effects:

[0149] (1) The control method or positioning method of the magnetically controlled capsule system can be applied without relying on positioning equipment, relying only on the measurement status data obtained by the capsule endoscope, so that the subsequent movement direction of the capsule endoscope can be consistent with the direction on the acquired image. In other words, the capsule endoscope can be controlled based on the first-person perspective of the image of the capsule endoscope, and the movement or posture adjustment of the capsule endoscope can be controlled in the form of "what you think is what you get", so that the capsule endoscope can be accurately controlled, which reduces the demand on the physician's ability, meets the ability conditions of more physicians, and is conducive to the promotion and application of the magnetically controlled capsule system.

[0150] (2) The capsule endoscope is controlled based on the first-person perspective of the capsule endoscope image, which can obtain images within the required field of view, improve the inspection efficiency and avoid the problem of missed inspection, and meet the needs of doctors.

[0151] (3) Without relying on a positioning device, the capsule endoscope is positioned by first controlling the control magnet to reach directly above the capsule endoscope, thereby meeting the need for precise control.

[0152] (4) Optimize the angle and distance of capsule endoscope shooting without relying on positioning equipment, give full play to the optimal performance of the capsule endoscope imaging hardware system, improve the image quality of digestive tract examination, improve the accuracy of physicians' reading results, and help improve the treatment level of patients. In one embodiment, a control device for a magnetically controlled capsule system is provided, and a schematic diagram of the module of the control device is shown in FIG20. The modules that the control device may include, and the specific functions of each module are as follows:

[0153] a capsule state acquisition module, configured to continuously acquire measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0154] a posture adjustment module, configured to control the control magnet to move at the same height and adjust the posture of the control magnet until the magnetic field state data reaches a maximum and / or the vertical tilt angle of the capsule endoscope is minimized, wherein the vertical tilt angle of the capsule is calculated based on the acceleration data;

[0155] The correction module is used to correct the capsule rotation angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image obtained by the capsule endoscope.

[0156] In one embodiment, a control device for a magnetically controlled capsule system is provided, which, in addition to the modules in the above embodiment, further includes a module schematic diagram as shown in FIG21 . The control device may include modules, and the specific functions of each module are as follows:

[0157] an image acquisition module, configured to acquire image data captured by the capsule endoscope;

[0158] a field of view adjustment module, configured to adjust the posture of the control magnet while maintaining the position of the control magnet unchanged, so as to obtain a plurality of peripheral image data outside the field of view corresponding to the image data;

[0159] The splicing module is used to splice the image data and the peripheral image data to obtain extended image data.

[0160] In one embodiment, a positioning device for a magnetically controlled capsule system is provided. A schematic diagram of the modules of the positioning device is shown in FIG22 . The positioning device may include modules, and the specific functions of each module are as follows:

[0161] a capsule state acquisition module, configured to continuously acquire measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data;

[0162] a posture adjustment module, configured to control the control magnet to move at the same height and adjust the posture of the control magnet until the magnetic field state data reaches a maximum and / or the vertical tilt angle of the capsule endoscope is minimized, wherein the vertical tilt angle of the capsule is calculated based on the acceleration data;

[0163] A magnet state acquisition module, configured to acquire magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet posture data;

[0164] a capsule position calculation module, configured to determine capsule position data of the capsule endoscope according to the current magnet position data;

[0165] A capsule posture calculation module is used to determine the capsule posture data of the capsule endoscope according to the current measurement state data and the magnet posture data.

[0166] It should be noted that for details not disclosed in the control device or positioning device of the embodiments of the present invention, please refer to the details disclosed in the control method or positioning method of the embodiments of the present invention.

[0167] The magnetically controlled capsule system 100 of this embodiment, as shown in FIG23 , may include a magnetic control system 20 and a capsule endoscope 10. In addition to the aforementioned imaging unit 12, permanent magnet unit 15, and inertial measurement unit 11, capsule endoscope 10 also includes a data processing and transmission unit 13 communicatively connected to imaging unit 12 and a power supply unit 14 for supplying power to the aforementioned active components. Data processing and transmission unit 13 transmits information to an external processing module 25 or server. The control magnet 21 drives capsule endoscope 10 to move. After capsule endoscope 10 reaches a designated position, imaging unit 12 captures images of the digestive tract, which are then transmitted to the outside world via data processing and transmission unit 13, completing the internal imaging.

[0168] The magnetic control system 20 includes a control magnet 21, a motor drive device 22, a signal transmission module 23, a storage module 24, and a processing module 25. The motor drive device 22 drives the control magnet 21 to move. The signal transmission module 23 and the data processing and transmission unit 13 can transmit data via a wireless connection, such as Bluetooth, Wi-Fi, or ZigBee. A communication bus 26 is used to establish a connection between the motor drive device 22, the signal transmission module 23, the processing module 25, and the storage module 24. The communication bus 26 may include a path to transmit information between the motor drive device 22, the signal transmission module 23, the processing module 25, and the storage module 24.

[0169] The magnetically controlled capsule system 100 may also include computing devices such as computers, laptops, PDAs, and cloud servers, as well as components including but not limited to a processing module 25, a storage module 24, and computer programs stored in the storage module 24 and executable on the processing module 25, such as the control method or positioning method described above. When the processing module 25 executes the computer programs, it implements the steps described in the various control method embodiments described above, such as the steps shown in Figures 4, 10, and 19.

[0170] In addition, the present invention also proposes an electronic device, which includes a storage module 24 and a processing module 25. When the processing module 25 executes the computer program, it can implement the steps in the above-mentioned control method or positioning method, and implement the steps in any one of the technical solutions in the above-mentioned control method or positioning method.

[0171] The electronic device may be a part integrated into the magnetically controlled capsule system 100 , or a local terminal device, or a part of a cloud server.

[0172] The processing module 25 can be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processing module 25 is the control center of the magnetically controlled capsule system 100, connecting the various components of the entire magnetically controlled capsule system 100 using various interfaces and circuits.

[0173] The storage module 24 can be used to store the computer programs and / or modules. The processing module 25 implements the various functions of the magnetically controlled capsule system 100 by running or executing the computer programs and / or modules stored in the storage module 24 and accessing the data stored in the storage module 24. The storage module 24 may primarily include a program storage area and a data storage area. The program storage area may store an operating system, at least one application required for a function, and the like. Furthermore, the storage module 24 may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0174] For example, the computer program can be divided into one or more modules / units, which are stored in the storage module 24 and executed by the processing module 25 to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the magnetically controlled capsule system 100.

[0175] Furthermore, an embodiment of the present invention provides a readable storage medium storing a computer program, which, when executed by the processing module 25, can implement the steps in the above-mentioned control method or positioning method, that is, implement the steps in any one of the technical solutions in the above-mentioned control method or positioning method.

[0176] If the integrated modules of the control device and / or positioning device of the magnetically controlled capsule system 100 are implemented as software functional units and sold or used as independent products, they can be computer programs stored in a computer-readable storage medium. Based on this understanding, the present invention can also implement all or part of the processes in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium and, when executed by the processing module 25, can implement the steps of each of the above-mentioned method embodiments.

[0177] The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. It should be noted that the content of the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0178] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0179] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a control magnet and a capsule endoscope, characterized in that: The control method comprises the following steps: Step S10: continuously acquiring measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data; Step S20: controlling the control magnet to move at the same height, and adjusting the position of the control magnet until the magnetic field state data is maximum, and / or the capsule vertical tilt angle of the capsule endoscope is minimum, wherein the capsule vertical tilt angle is calculated according to the acceleration data; Step S30: calibrating the capsule rotation angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image acquired by the capsule endoscope.

2. The control method of the magnetically controlled capsule system according to claim 1, characterized in that: The step S20 comprises: Controlling the magnetization direction of the control magnet to be in a vertical direction; The control magnet is controlled to translate within a plane perpendicular to the vertical direction while keeping the magnetization direction unchanged, wherein the translation is a movement in a direction that gradually reduces the vertical tilt angle of the capsule and / or gradually increases the magnetic field state data.

3. The control method of the magnetically controlled capsule system according to claim 2, characterized in that: The step of controlling the translation of the control magnet comprises: controlling the movement of the control magnet in coordination with the magnetic field state data and the vertical tilt angle of the capsule.

4. The control method of the magnetically controlled capsule system according to claim 3, characterized in that: The step of controlling the movement of the control magnet in coordination with the magnetic field state data and the vertical tilt angle of the capsule comprises: In the process of controlling the movement of the control magnet, if the vertical tilt angle of the capsule does not change, continuously moving the control magnet until the vertical tilt angle of the capsule changes; In the process of controlling the movement of the control magnet, if the vertical tilt angle of the capsule increases and the magnetic field state data decreases, the control magnet is controlled to move in the opposite direction.

5. The control method of the magnetically controlled capsule system according to claim 1, characterized in that: After step S20, the method further includes the following steps: Calculating the height of the capsule endoscope according to the magnetic field state data; The height of the control magnet is adjusted so that the height of the capsule endoscope is within a set range.

6. The control method of the magnetically controlled capsule system according to claim 1, characterized in that: Also includes the steps: Step S40: Acquire image data captured by the capsule endoscope; Step S50: adjusting the posture of the control magnet while maintaining the position of the control magnet unchanged, so as to obtain a plurality of peripheral image data outside the field of view corresponding to the image data; Step S60: splicing the image data and the peripheral image data to obtain extended image data.

7. The control method of the magnetically controlled capsule system according to claim 6, characterized in that: The step S50 comprises: On the basis of keeping the position of the control magnet unchanged, adjusting the posture of the control magnet so that the position of the capsule endoscope remains unchanged and only the posture is adjusted; The posture of the control magnet is adjusted to move the capsule endoscope toward a target direction, wherein the target direction is an expansion direction from a field of view corresponding to the image data to a field of view corresponding to the peripheral image data.

8. The control method of the magnetically controlled capsule system according to claim 7, characterized in that: The step S50 further includes: The posture of the control magnet is adjusted so that the newly acquired peripheral image data includes images outside the field of view corresponding to the image data while retaining a portion of the images within the field of view corresponding to the image data.

9. The control method of the magnetically controlled capsule system according to claim 8, characterized in that: The step of adjusting the posture of the control magnet comprises: Acquiring an expected movement amount of the field of view of the capsule endoscope; Calculating a posture adjustment amount of the capsule endoscope according to the expected movement amount of the visual field; Calculating the posture adjustment amount of the control magnet according to the posture adjustment amount of the capsule endoscope; The control magnet is controlled to adjust a corresponding change amount according to the attitude adjustment amount of the control magnet.

10. The control method of the magnetically controlled capsule system according to claim 8, characterized in that: The plurality of peripheral image data include peripheral image data at eight positions above, below, left, right, upper left, upper right, lower left, and lower right of the image data.

11. The control method of the magnetically controlled capsule system according to claim 6, characterized in that: Also includes the steps: Step S70: controlling the control magnet to move so that the capsule endoscope moves to the next control node; Step S80: On the basis of continuously executing step S10, the steps S20 to S70 are executed in a loop until the inspection is completed.

12. A positioning method for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a control magnet and a capsule endoscope, characterized in that: The positioning method comprises the following steps: Continuously acquiring measurement status data of the capsule endoscope, wherein the measurement status data includes acceleration data and / or magnetic field status data; controlling the control magnet to move within the same height, and adjusting the position of the control magnet until the magnetic field status data is maximum, and / or the capsule vertical tilt angle of the capsule endoscope is minimum, wherein the capsule vertical tilt angle is calculated according to the acceleration data; Acquiring magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet posture data; Determining capsule position data of the capsule endoscope according to the current magnet position data; The capsule posture data of the capsule endoscope is determined according to the current measurement state data and the magnet posture data.

13. The positioning method of the magnetically controlled capsule system according to claim 12, characterized in that: The step of determining the capsule position data of the capsule endoscope according to the current magnet position data comprises: The x-axis coordinate of the capsule endoscope is the same as the x-axis coordinate of the capsule endoscope; The y-axis coordinate of the capsule endoscope is the same as the y-axis coordinate of the capsule endoscope; The z-axis coordinate of the capsule endoscope is calculated according to the magnetic field state data.

14. The positioning method of the magnetically controlled capsule system according to claim 12, characterized in that: The capsule posture data includes the capsule horizontal azimuth angle, the capsule vertical tilt angle, and the capsule spin angle, and the magnet posture data includes the magnet horizontal azimuth angle; When the magnetic field state data is maximum and / or the capsule vertical tilt angle of the capsule endoscope is minimum, the capsule vertical tilt angle is zero; The step of determining the capsule posture data of the capsule endoscope according to the current measurement state data and the magnet posture data further comprises: calculating the capsule spin angle according to the acceleration data; After the magnetic field state data is maximum and / or the capsule vertical tilt angle of the capsule endoscope is minimum, the following steps are performed: Adjusting the posture of the control magnet so that the vertical tilt angle of the capsule is not zero; The capsule horizontal azimuth angle is equal to the magnet horizontal azimuth angle.

15. A control device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a control magnet and a capsule endoscope, characterized in that: The control device comprises: A capsule state acquisition module, used for continuously acquiring measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data; a posture adjustment module, used for controlling the control magnet to move at the same height, and adjusting the posture of the control magnet until the magnetic field state data is maximum, and / or the capsule vertical tilt angle of the capsule endoscope is minimum, wherein the capsule vertical tilt angle is calculated according to the acceleration data; The correction module is used to correct the capsule rotation angle of the capsule endoscope so that the direction of the capsule endoscope when it moves or adjusts its posture is consistent with the direction on the image acquired by the capsule endoscope.

16. A positioning device for a magnetically controlled capsule system, the magnetically controlled capsule system comprising a control magnet and a capsule endoscope, characterized in that: The positioning device comprises: A capsule state acquisition module, used for continuously acquiring measurement state data of the capsule endoscope, wherein the measurement state data includes acceleration data and / or magnetic field state data; a posture adjustment module, used for controlling the control magnet to move within the same height, and adjusting the posture of the control magnet until the magnetic field state data is maximum, and / or the capsule vertical tilt angle of the capsule endoscope is minimum, wherein the capsule vertical tilt angle is calculated according to the acceleration data; A magnet state acquisition module, used for acquiring magnet state data of the control magnet, wherein the magnet state data includes magnet position data and magnet posture data; A capsule position calculation module, used to determine capsule position data of the capsule endoscope according to the current magnet position data; The capsule posture calculation module is used to determine the capsule posture data of the capsule endoscope according to the current measurement state data and the magnet posture data.

17. An electronic device, characterized in that: include: A storage module storing a computer program; The processing module can implement the steps of the control method of the magnetically controlled capsule system or the positioning method of the magnetically controlled capsule system as claimed in claim 1 or 12 when executing the computer program.

18. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processing module, the steps in the control method of the magnetically controlled capsule system or the positioning method of the magnetically controlled capsule system described in claim 1 or 12 can be implemented.

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