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Capsule endoscope motion control method based on magnetic field spatial distribution change

A capsule endoscopy and spatial distribution technology, applied in endoscopy, medical science, surgery, etc., can solve the problems of slow speed, difficult to control capsule movement, and high energy consumption.

Inactive Publication Date: 2016-05-11
SUZHOU XIANGDONG ZHIZAO MEDICAL TECH CO LTD
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Problems solved by technology

The main disadvantage of passive capsule endoscopy is that the capsule endoscope can only move and shoot randomly in the human body, and it is difficult to reach the designated position according to the doctor's instructions, nor can it stay in a specific part, so there are inspection blind spots and possible missed inspections
The internal drive has the following disadvantages: 1. The drive itself needs to consume a lot of energy, which may cause insufficient battery power; 2. The structure of the microcapsule becomes complicated, making production difficult and high cost; 3. The moving structure may cause damage to the digestive tract. Injury; 4. Capsule movement is difficult to control and slow
However, the invention patent also did not systematically explain the operation method of controlling the movement of the capsule.

Method used

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  • Capsule endoscope motion control method based on magnetic field spatial distribution change
  • Capsule endoscope motion control method based on magnetic field spatial distribution change
  • Capsule endoscope motion control method based on magnetic field spatial distribution change

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Embodiment Construction

[0080] The present invention will be further explained in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0081] The method proposed by the invention is based on a complete system, including a magnetic field generator, a multi-degree-of-freedom motion mechanism, and a corresponding motion controller. A kind of embodiment of described magnetic field generator is to adopt the combination of permanent magnet cylinder, by a diameter 120mm, height 40mm; Two diameters 100mm, height 25mm; Two diameters 50mm, the permanent magnet of height 15mm forms symmetrical sphere, When the action distance is long, the distribution of its magnetic force lines is similar to that of a magnetic ball. According to the derivation of Biosafal's law, for an axially magnetized cylindrical permanent magnet with a diameter of D, a height of L, and a surface remanence of Br, the relationship between...

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Abstract

The invention discloses a medical capsule endoscope motion control method, aims to solve the problem of external active control on a capsule endoscope during internal examinations by the permanent magnet capsule endoscope, and provides a method for changing spatial magnetic field distribution change on the basis of magnetic field motion to change magnetic force borne by the permanent magnet capsule endoscope so as to control the permanent magnet capsule endoscope to move in human bodies. The method comprises position attitude control in the sinking state of the capsule endoscope, position attitude control in the floating state of the capsule endoscope, automatic control from the sinking state to the floating state of the capsule endoscope, dynamic jumping motion in the fixed mode of the capsule endoscope and program control in the whole examination process.

Description

technical field [0001] The present invention relates to the field of medical equipment, in particular to an in vitro control method for gastric examination using a capsule endoscope, in particular to a magnetic control navigation control method for a medical capsule endoscope, which can be used to control and guide the capsule endoscope in the human body movement and inspection. Background technique [0002] Capsule endoscopy is a human digestive tract inspection tool that is similar in size and shape to capsules and pills, but integrates a complete set of optical photography system, wireless communication system and power supply system. After the capsule is swallowed by the subject, it will move in the gastrointestinal tract, and the inner wall of the gastrointestinal tract will be photographed and inspected along the way, and the image will be sent to the external terminal. Doctors can locate and diagnose the lesion through the received images. [0003] Capsule endoscopy...

Claims

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Application Information

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IPC IPC(8): A61B1/04A61B1/045A61B1/00
CPCA61B1/041A61B1/00158A61B1/045
Inventor 栾楠赵振亮张海青
Owner SUZHOU XIANGDONG ZHIZAO MEDICAL TECH CO LTD
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