CN115844313A - External control device of magnetic control capsule robot - Google Patents
External control device of magnetic control capsule robot Download PDFInfo
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- CN115844313A CN115844313A CN202310190324.5A CN202310190324A CN115844313A CN 115844313 A CN115844313 A CN 115844313A CN 202310190324 A CN202310190324 A CN 202310190324A CN 115844313 A CN115844313 A CN 115844313A
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- 208000018522 Gastrointestinal disease Diseases 0.000 description 1
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Abstract
The invention provides an external control device of a magnetic control capsule robot, belongs to the technical field of capsule robots, and solves the problem that the posture of the magnetic control capsule robot cannot be accurately controlled in the prior art. The device comprises a bed body, a direction control module, a suspension control module, a peripheral frame and a controller. The direction control module is fixed on the inner wall of the peripheral frame and comprises 3 groups of electrified coils with mutually vertical directions and used for generating a synthetic magnetic field. The bed body is arranged in the inner space of the direction control module during testing. The suspension control module comprises a three-axis motion platform and a suspension control electromagnetic coil. The suspension control electromagnetic coil is fixed below the movable component of the three-axis motion platform. The controller is used for supplying power to the suspension control module after being started; after receiving the inspection instruction, the three-axis motion platform is controlled to move to pull the capsule robot to move to the target position, power is supplied to the direction control module, and the capsule robot is controlled to execute an inspection program for setting pitching and yawing.
Description
Technical Field
The invention relates to the technical field of capsule robots, in particular to an external control device of a magnetic control capsule robot.
Background
With the development of modern medicine, the magnetic control capsule robot is widely applied to stomach examination. Compared with the traditional gastroscope, the magnetic control capsule robot does not need to insert a catheter for stomach examination, has smaller volume, does not need anesthesia, and can relieve physical and psychological discomfort of patients. The magnetic control capsule robot can realize translation in three directions by matching with an external control device, and the inspection range is larger than that of the traditional gastroscope.
The existing external control devices mostly adopt permanent magnets, the magnetic control capsule robot can be controlled to move in the stomach by moving the permanent magnets, but the posture of the magnetic control capsule robot cannot be accurately controlled. In addition, the capsule robot is easily stuck to influence the detection effect due to more folds and gullies inside the stomach and intestine, and the capsule robot cannot be discharged from the human body easily, so that the risk of retention is caused, and gastrointestinal diseases are caused.
Disclosure of Invention
In view of the foregoing analysis, an embodiment of the present invention is directed to an external control device for a magnetron capsule robot, so as to solve the problem that the prior art cannot accurately control the posture of the magnetron capsule robot.
On one hand, the embodiment of the invention provides an external control device of a magnetic control capsule robot, which comprises a bed body, a direction control module, a suspension control module, a peripheral frame and a controller, wherein the direction control module is arranged on the bed body; wherein,
the direction control module is fixed on the inner wall of the peripheral frame, comprises 3 groups of electrified coils with mutually vertical directions and is used for generating a synthetic magnetic field to adjust the pitch angle or the yaw angle of the capsule robot; the bed body is arranged in the inner space of the direction control module during testing;
the suspension control module comprises a three-axis motion platform and a suspension control electromagnetic coil which extends into the direction control module and is arranged above the bed body; the suspension control electromagnetic coil is fixed below a movable component of the three-axis motion platform and used for towing the capsule robot;
the controller is used for supplying power to the suspension control module after being started, so that the capsule robot is in a suspension state; and after receiving an inspection instruction sent by a user, controlling the three-axis motion platform to move and pull the capsule robot to move to a target position along a set direction, supplying power to the direction control module, and controlling the capsule robot to execute an inspection program of a corresponding pitch angle and a corresponding yaw angle at the target position.
The beneficial effects of the above technical scheme are as follows: the capsule robot is controlled by a coil type magnetic field generating system (comprising a direction control module and a suspension control module), the direction control module generates a magnetic field by electrifying a coil, the magnetic field in three directions (X, Y and Z directions under an object coordinate system) can be generated, the posture of the capsule robot is accurately controlled by changing the magnetic field intensity, the upper suspension control module plays a role in auxiliary control, the capsule robot can be suspended in gastric juice at a fixed point, and the five-degree-of-freedom motion control of the capsule is realized, namely the yawing and pitching of the capsule and the translation along the X, Y, Z triaxial are realized, so that the capsule has stronger flexible motion capability, the posture stability and the control operability are improved, the coverage and the pertinence of the capsule gastroscope examination are improved, and the examination requirements are met. The device has simple integral structure and lower cost. And the accurate control of the position and the posture of the capsule robot can be realized through the movement of the three-axis movement platform and the electrification control of the coil.
Based on a further improvement of the above apparatus, the controller executes the following program:
after starting, supplying power to the suspension control module until the generated magnetic field is stable;
controlling the capsule robot to be electrified so that the capsule robot is in a suspension state;
generating a motion track point diagram after receiving an overlay type inspection instruction or a target inspection instruction fed back by a user;
controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction;
temporarily stopping the movement of the triaxial motion platform at each target position, and correcting an original electrified coil power supply scheme of the direction control module according to the lens data of the capsule robot at the current moment;
and supplying power to the direction control module according to the corrected power supply scheme of the electrified coil so as to control the capsule to execute corresponding coverage type inspection or targeted inspection.
Further, the direction control module is composed of 6 square electromagnetic coils, wherein each 2 square electromagnetic coils are oppositely arranged to form a group, and an X-direction electromagnetic coil, a Y-direction electromagnetic coil and a Z-direction electromagnetic coil are sequentially formed; the size and the current of each group of square electromagnetic coils are the same; and,
the three-axis motion platform is arranged above the direction control module;
the head of the capsule robot is provided with a lens, and an antenna and a Hall sensor are arranged in the capsule robot;
the capsule robot is also internally provided with a permanent magnet which is used for moving or rotating after being electrified to acquire gastroscope data and positioning data of a user and send the gastroscope data and the positioning data to the controller.
Furthermore, the upper part of the bed body is provided with at least one area for a patient to lie horizontally and a movable control panel, the bottom of the bed body is provided with movable wheels, and the width middle axial surface of the bed body is superposed with the middle axial surface of the Y-direction electromagnetic coil in the direction control module; and,
the bed body is arranged outside the peripheral frame during non-testing, and the movable control panel can automatically stretch out and draw in the inner space of the direction control module after being electrified during testing.
Further, the direction control module further comprises a housing; wherein,
the shell of the direction control module is made of 6 panel materials, the Y-axis direction panel is connected with the X-axis direction panel through 8 corner connectors, and the Z-axis direction panel is connected with the X-axis direction panel through 8 corner connectors.
Further, the peripheral frame further comprises 2Y-direction support beams, 4 vertical-direction support beams, 4X-direction support beams, 4 coil bottom Y-direction support beams, and 2 coil bottom X-direction support beams; wherein,
2 parallel Y-direction supporting beams are arranged above the top electrified coil of the direction control module; a vertical direction supporting beam is respectively fixed below the end point of each Y direction supporting beam; the two vertical direction supporting beams on each side of the pair of sides are fixedly connected through 2X direction supporting beams;
a layer of parallel coil bottom X-direction supporting beams and 2 layers of parallel coil bottom Y-direction supporting beams are respectively fixed below the bottom electrified coil of the direction control module;
the bottom of an X-axis direction plate of a shell in the direction control module is fixed on an X-direction supporting beam at the bottom of the coil through 4 fixing blocks; the X-direction supporting beam at the bottom of the coil is fixed on the Y-direction supporting beam at the bottom of the first layer of coil through 8 corner connectors, and the Y-direction supporting beam at the bottom of the first layer of coil is fixed on the Y-direction supporting beam at the bottom of the second layer of coil through the corner connectors.
Further, the three-axis motion platform further comprises an X-axis direction lead screw module, a Y-axis direction lead screw module, a Z-axis direction lead screw module and more than one independent stepping motor or servo motor; wherein,
the X-axis direction lead screw module moves on a guide rail in the X direction through at least one independent stepping motor or servo motor;
the Y-axis direction lead screw module moves on a guide rail in the Y direction through at least one independent stepping motor or servo motor;
the Z-axis direction lead screw module moves on a guide rail in the Z direction through at least one independent stepping motor or servo motor.
Further, the three-axis motion platform also comprises a vertical connecting part; wherein,
the two Y-axis direction lead screw modules are arranged on the Y-direction supporting beam of the peripheral frame in parallel along the Y-axis direction, and the upper surfaces of the two are lapped and fixed with the X-axis direction lead screw module; the middle part of the X-axis direction lead screw module is fixedly connected with the middle part of the Z-axis direction lead screw module;
the bottom of the vertical connecting part is fixed with a suspension control electromagnetic coil used for bearing the suspension control electromagnetic coil, and the top of the vertical connecting part is fixedly connected with a Z-axis direction lead screw module.
Furthermore, a Y-axis direction lead screw module of the three-axis motion platform is fixed on a Y-direction supporting beam of the peripheral frame through a sheet metal part;
the top of the Z-axis direction lead screw module of the three-axis motion platform is provided with a stepping motor or a servo motor, and the bottom of the Z-axis direction lead screw module is connected with a vertical direction connecting component.
Further, the controller executes the following program:
after the user swallows the capsule robot and lies on the bed body, the external control device is started;
controlling to supply power to the suspension control module, and timing until the power supply time reaches a set time for stabilizing the magnetic field generated by the suspension control module;
controlling the capsule robot to be powered on, monitoring the position of the capsule robot in real time in the power-on process until the capsule robot is monitored to be in a suspension state, recording the initial position information of the capsule robot at the current moment, and sending a control instruction of preparing to-be-confirmed inspection mode to a user;
after receiving a coverage type inspection instruction or a target inspection instruction fed back by a user, generating a motion track point diagram of the capsule robot and a yaw angle and pitch angle transformation program of each target position according to the initial position information and the specific instruction;
controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction through the suspension control electromagnetic coil;
temporarily stopping the movement of the triaxial motion platform at each target position, and correcting an original electrified coil power supply scheme of the direction control module according to the lens data of the capsule robot at the current moment;
supplying power to a direction control module according to the corrected power supply scheme of the electrified coil, executing a program for changing the yaw angle and the pitch angle of the target position, and acquiring lens data of the capsule robot at each moment;
identifying whether the lens data of the capsule robot exists screening abnormity at each moment, if so, automatically recording the lens data of the capsule robot with the screening abnormity, and sending an alarm;
and completing lens data identification of each target position in the motion track point diagram so as to control the capsule to execute corresponding coverage inspection or target inspection.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
1. the control effect of the external magnetic control device on the market at present can not meet the inspection requirements far away, the covering type and the targeted inspection of the whole gastrointestinal tract are difficult to realize, certain missed diagnosis risks exist, and the inspection of key positions can not be detailed enough. The scheme provides an external magnetic control device capable of accurately controlling the position and the posture of the capsule robot, motion control of five degrees of freedom of the capsule robot, namely yaw and pitch and translation along the X, Y, Z three-axis is achieved, inclination angle increment control of the capsule robot not exceeding 2 degrees is achieved, and the capsule robot has good fixed point suspension position stability and motion stability and can meet the inspection requirements.
2. Through setting up step motor or servo motor, can realize the accurate control of position.
3. The capsule robot generates translational motion in a corresponding direction by using a gradient magnetic field in any direction generated by an orthogonal combination Maxwell coil; the capsule robot generates rotary motion by using a rotary magnetic field generated by a Helmholtz coil; when the magnetic force applied to the capsule robot forms an included angle with the direction of the magnetic moment, the capsule robot generates spiral scanning type movement. And the spiral scanning motion is expanded along the pipeline-type wall surface, so that the capsule robot is beneficial to performing photographic inspection on the surface of the gastrointestinal tract. This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
FIG. 1 is a schematic diagram showing the composition of an external control device of a magnetically controlled capsule robot according to example 1;
FIG. 2 is a schematic diagram showing the composition of an external control device of the magnetron capsule robot in the embodiment 2;
FIG. 3 is a schematic view showing the direction control module composition of the embodiment 2;
FIG. 4 is a schematic diagram showing the composition of a levitation control module according to embodiment 2;
FIG. 5 is a schematic view showing the position of the connecting member in the vertical direction in embodiment 2;
fig. 6 shows a schematic structural diagram of a peripheral frame of embodiment 2.
Reference numerals:
1-a direction control module; 2-a suspension control module; 3-a peripheral frame; 01-X axis direction lead screw module; a 02-Y axis direction lead screw module; a 03-Z axis direction lead screw module; 04-a stepping motor; a 05-X direction electromagnetic coil; a 06-Y direction electromagnetic coil; a 07-Z directional electromagnetic coil; 0801- (for connecting corner-code coils); 0802-corner connector (connection 10 and 17); 0803-corner connector (connecting 15, 16 and 17); 09-Y direction support beams; 10-vertical direction support beam; 11-X direction support beams; 12-coil bottom X-direction support beams; 13-fixed block (connecting the coil at one side below 07 with 12); 14-first layer coil bottom Y-direction support beam (connecting 12 and 15); 15-second layer coil bottom Y-direction support beam (connections 14 and 16); 16-a base plate; 17-X direction support beams (connections 14 and 16); 18-vertical direction connecting member; 19-a power supply; 20-bed body; 21-sheet metal parts (connection 09 and 02); 22-a levitating electromagnetic coil.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While embodiments of the invention are illustrated in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The term "include" and variations thereof as used herein is meant to be inclusive in an open-ended manner, i.e., "including but not limited to". The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.
Example 1
One embodiment of the present invention discloses an external control device of a magnetic control capsule robot, as shown in fig. 1, comprising a bed body 20, a direction control module 1, a suspension control module 2, a peripheral frame 3 and a controller.
The direction control module 1 is fixed on the inner wall of the peripheral frame 3, and comprises 3 groups of electrified coils with mutually vertical directions (each group of electrified coils respectively generates magnetic fields in the directions of three axes of an X axis, a Y axis and a Z axis), and each group of electrified coils is provided with 2 coils which are oppositely arranged and have the same shape and size and are used for generating a synthetic magnetic field to adjust the pitch angle or the yaw angle of the capsule robot. Namely, a magnetic field with controllable direction is generated in the central space of the electrified coil group and acts on the capsule robot body, the control of the yaw and the pitch of the capsule robot is realized, namely the head orientation of the capsule robot is controlled to acquire image data in different directions.
The bed body 20 is placed in the internal space of the direction control module 1 during testing, and is used for the suspension translation of the capsule robot after a user lies down, and the external control device can move to different positions to acquire image data.
The levitation control module 2 includes a three-axis motion stage and a levitation control solenoid 22. The three-axis motion platform is arranged above or on the side of the direction control module 1, and is arranged above the direction control module 1 in the figure 1. The suspension control electromagnetic coil 22 extends into the direction control module 1 and is arranged above the bed body 20, and is used for generating electromagnetic force along the Z-axis direction, overcoming the self gravity of the capsule robot, and changing the intensity of the generated magnetic field by adjusting the current flowing through the suspension control electromagnetic coil 22, so as to adjust the size of the electromagnetic force and realize the suspension of the capsule robot in the gastric juice environment. The levitation control solenoid 22 is fixed below the movable member of the three-axis motion stage for towing the capsule robot, i.e., the capsule robot is moved by the levitation control solenoid 22 as the three-axis motion stage moves.
The controller is used for supplying power to the suspension control module 2 after being started, so that the capsule robot is in a suspension state; after receiving an inspection instruction sent by a user, controlling the triaxial motion platform to move the capsule traction robot to move to a target position along a set direction (the capsule traction robot translates along X, Y, Z in three directions and has three translation degrees of freedom), supplying power to the direction control module 1, and controlling the capsule robot to execute an inspection program of a corresponding pitch angle and a corresponding yaw angle (the capsule traction robot changes the pitch angle and the yaw angle and has two rotation degrees of freedom).
The controller can be arranged outside the peripheral frame 3, or a remote control device is adopted, and the controller is provided with a control module and a display screen and is mainly used for controlling the power supply of the direction control module 1 and the suspension control module 2 and displaying lens data of the capsule robot. Alternatively, the controller may be configured to control the capsule robot as needed to implement an integrated control scheme.
Alternatively, the bed 20 has a lifting structure, which may be a link mechanism or a scissor lifting structure.
When the capsule robot is implemented, a magnetic field with controllable direction is generated in the central space of the electrified coil group in the direction control module 1 and acts on the capsule robot body to realize the control of yaw and pitch of the capsule robot, namely the head orientation of the capsule robot is controlled. The suspension control electromagnetic coil 22 can enable the capsule robot to generate electromagnetic force along the Z-axis direction so as to overcome the self gravity of the capsule robot, and the magnitude of the electromagnetic force is adjusted by adjusting the magnitude of the current flowing through the coil to change the generated magnetic field strength, so that the suspension of the capsule robot in the gastric juice environment is realized. The suspension control electromagnetic coil 22 moves through the three-axis motion platform, and pulls the capsule robot to translate along X, Y, Z in three directions until a preset target position (a gastric and intestinal check point) is reached. The device realizes five-degree-of-freedom control of the capsule robot, and comprises three translational degrees of freedom and two rotational degrees of freedom.
Compared with the prior art, the device provided by the embodiment controls the capsule robot through the coil type magnetic field generating system (comprising the direction control module and the suspension control module), the direction control module generates a magnetic field by electrifying the coil, the magnetic field in three directions (X, Y and Z) can be generated, the posture of the capsule robot is accurately controlled by changing the magnetic field intensity, the upper suspension control module plays a role in auxiliary control, the capsule robot can be suspended in gastric juice at a fixed point, and the five-degree-of-freedom motion control of the capsule is realized, namely the yawing and pitching of the capsule and the translation along the three axes of 4282 zft 4282, so that the capsule has stronger flexible motion capability, the posture stability and the control operability are improved, the coverage and pertinence of the capsule gastroscope examination are improved, and the requirement of the examination is met. The device has simple integral structure and lower cost. And the position and the posture of the capsule robot can be accurately controlled through the movement of the three-axis motion platform and the electrification control of the coil.
Example 2
The improvement is made on the basis of the embodiment 1, and the controller executes the following programs to realize the covering type examination or the targeted examination function:
s1, after starting, supplying power to a suspension control module 2 until a generated magnetic field is stable;
s2, controlling the capsule robot to be electrified so that the capsule robot is in a suspension state;
s3, generating a motion track point diagram after receiving an overlay type inspection instruction or a target inspection instruction fed back by a user;
specifically, the controller is internally provided with human stomach/intestine physical model modeling data with different heights and weights, or the human stomach/intestine physical model modeling data is scanned and established through other equipment, and a motion track point diagram of the capsule robot moving in the stomach/intestine of the current user can be automatically generated according to an inspection instruction fed back by the user;
s4, controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction;
specifically, a positioning module is arranged in the capsule robot, and the positioning module uploads the real-time position of the capsule robot to a controller, so that the target position closest to the real-time position can be determined, the image acquisition of the capsule robot at each target position is ensured, and the missing acquisition is prevented;
s5, temporarily stopping the movement of the three-axis motion platform at each target position, and correcting the original electrified coil power supply scheme of the direction control module 1 according to the lens data of the capsule robot at the current moment;
specifically, after the capsule robot moves to the target position, if the lens of the capsule robot cannot irradiate specific imaging data of the target position, the capsule robot needs to deflect a preset angle phi, the angle phi can be obtained through calibration, and phi is related to the power supply current of the direction control module 1 and meets the requirement that the angle phi is met
tanφ=f（I 1 ,I 2 ,I 3 ,I 4 ,x,y,z） （1）
Wherein, (ii) (x,y,z) For the coordinates of the capsule robot (object coordinate system, e.g. with the directional control module establishing the coordinate system),I 1 ,I 2 ,I 3 the power supply currents of 3 groups of electrified coils of the direction control module 1 are respectively,f() Is a calibration function.
After a preset angle phi is appointed, a corrected power supply scheme of the electrified coil can be obtained through the formula (1) until a lens of the capsule robot irradiates specific imaging data of the target position, so that the missing detection is prevented;
s6, supplying power to the direction control module 1 according to the corrected power supply scheme of the electrified coil so as to control the capsule to execute corresponding coverage type inspection or targeted inspection;
specifically, the overlay examination is to perform imaging processing on each target position in the stomach, and the target examination is to perform imaging processing on only the target position in a local region in the stomach to investigate an abnormal part, such as the presence of a tumor.
Preferably, the direction control module 1 consists of 6 square solenoids, as shown in fig. 2 and 3. Every 2 square solenoid coils set up relatively, as a set of, form X direction solenoid 05, Y direction solenoid 06, Z direction solenoid 07 in proper order, produce the magnetic field along X, Y, Z triaxial direction respectively, wherein, X axle direction is bed body 20 length direction, Y axle direction is bed body 20 width direction, and Z axle direction is bed body 20 direction of height. The size and the current of each group of square electromagnetic coils are the same, so that the capsule robot is ensured to be in a uniform magnetic field to control the head orientation of the capsule robot.
The number of X-direction electromagnetic coils 05 was 2,Y and the number of direction electromagnetic coils 06 was 2,Z and the number of direction electromagnetic coils 07 was also 2.
Preferably, the direction control module 1 further comprises a housing, as shown in fig. 2. The shell of the direction control module 1 is made of 6 panels, the Y-axis direction panel is connected with the X-axis direction panel through 8 corner codes 0801, and the Z-axis direction panel is connected with the X-axis direction panel through 8 corner codes 0801. The number of corner codes 0801 is 16 in total.
Preferably, the device also comprises a power source 19 (number 1) for powering each solenoid.
Preferably, the head of the capsule robot carries a lens (which may be a digital lens or an infrared lens), and is internally provided with an antenna and a hall sensor (as a positioning module).
And the capsule robot is also internally provided with a permanent magnet which is used for moving or rotating after being electrified, acquiring gastroscope data and positioning data of a user and sending the gastroscope data and the positioning data to the controller.
Preferably, the upper portion of the bed 20 is provided with a region for the patient to lie on, or a plurality of regions for the patient to lie on, and a movable control panel; the bottom of the bed body 20 is provided with movable wheels, for example, four groups of sliding wheels; the width middle axial surface of the bed body is coincided with the middle axial surface of the Y-direction electromagnetic coil 06 in the direction control module 1. And, the bed body 20 is placed outside the peripheral frame 3 when not testing, and the movable control panel is automatically stretched out and drawn in the inner space of the direction control module 1 after being electrified when testing. The device is suitable for multi-user data simultaneous acquisition, and can greatly shorten the test duration.
Preferably, the peripheral frame 3 further includes 2Y-direction support beams 09 (for supporting the Y-axis direction lead screw module 02), 4 vertical-direction support beams 10 (for connecting the Y-direction support beams 09 with the XYZ whole lead screw module of the three-axis motion platform), 4X-direction support beams 11 (for connecting the vertical-direction support beams 10), 4 coil bottom Y-direction support beams 14, 15, 2 coil bottom X-direction support beams 12 (for supporting the coil), 2 bottom X-direction beams 17 (for connecting the coil bottom Y-direction support beams 14 with the bottom plate 16), and bottom plates 16 (the number is 1) for supporting the whole apparatus and contacting the ground, as shown in fig. 2, 6. 2 parallel Y-direction supporting beams 09 are arranged above the top electrified coil of the direction control module 1; a vertical support beam 10 is respectively fixed below the end point of each Y-direction support beam 09; two vertical direction supporting beams 10 on each side of a pair of sides are fixedly connected through 2X direction supporting beams 11.
A layer (2 or more) of parallel coil bottom X-direction support beams 12 and 2 layers of parallel coil bottom Y-direction support beams 14 and 15 are fixed below the bottom energizing coil of the direction control module 1. The coil bottom Y-direction support beams 14 (number 2) serve as a first layer, and the coil bottom Y-direction support beams 15 (number 2) serve as a second layer. The coil bottom Y-direction support beam 14 of the first layer is connected to the base plate 16 by a bottom X-direction beam 17.
Preferably, the vertical direction support beam 10 is connected to the X direction beam 17 by 8 corner codes 0802. The Y-direction support beam 15, the bottom plate 16 and the X-direction beam 17 are connected through 4 corner connectors 0803.
The bottom of the X-axis direction plate of the housing in the direction control module 1 is fixed to the coil bottom X-direction support beam 12 by 4 fixing blocks 13 (the number of which is 4, for connecting the Z-direction electromagnetic coil 07 to the coil bottom X-direction support beam 12). The coil bottom X-direction supporting beam 12 is fixed on a first layer coil bottom Y-direction supporting beam 14 through 8 corner connectors, and the first layer coil bottom Y-direction supporting beam 14 is fixed on a second layer coil bottom Y-direction supporting beam 15 through corner connectors.
Preferably, the three-axis motion platform further includes an X-axis direction lead screw module 01, a Y-axis direction lead screw module 02, a Z-axis direction lead screw module 03, and more than one independent stepping motor 04 or servo motor, as shown in fig. 4. The lead screw module 01 in the X-axis direction moves on a guide rail in the X direction through at least one independent stepping motor 04 or servo motor; the Y-axis lead screw module 02 moves on a guide rail in the Y direction thereof through at least one independent stepping motor 04 or servo motor; the Z-axis lead screw module 03 moves on its Z-direction guide rail by at least one independent stepping motor 04 or servo motor.
The suspension control electromagnetic coil 22 is hung at the tail end (below) of a Z-axis direction lead screw module 03 of the three-axis motion platform. The suspension control electromagnetic coil 22 can generate electromagnetic force along the Z-axis direction, so as to overcome the self-gravity of the capsule robot and realize the suspension of the capsule in the gastric juice environment or the intestinal tract environment. The suspension control electromagnetic coil 22 moves through the three-axis motion platform, and pulls the capsule to translate along X, Y, Z in three directions to reach a preset target position.
Preferably, the three-axis motion platform further comprises a vertical connecting member 18, as shown in fig. 4 and 5. The vertical connecting members 18 are for receiving small coils, and the number thereof is 1.
Preferably, the number of the X-axis direction screw modules 01 is 1,Y, the number of the X-axis direction screw modules 02 is 2,Z, the number of the X-axis direction screw modules 03 is 1, and the number of the stepping motors 04 is 4. Two Y-axis direction lead screw modules 02 are arranged on the Y-direction support beam 09 of the peripheral frame 3 in parallel along the Y-axis direction (as can be seen from two sides of the Z-axis direction lead screw module 03 in fig. 2), and the upper surfaces of the two are lapped and fixed with the X-axis direction lead screw module 01; and, the middle part of X axle direction lead screw module 01 and the middle part fixed connection of Z axle direction lead screw module 03.
The Z-axis direction lead screw module 03 is connected to the X-axis direction lead screw module 01 and the vertical direction connecting member 18.
The bottom of the vertical connecting component 18 is fixed with a suspension control electromagnetic coil 22 for carrying the suspension control electromagnetic coil 22, and the top thereof is fixedly connected with a Z-axis direction lead screw module 03. The levitation-control solenoid 22 is connected to the vertical direction connecting member 18 by a screw.
Preferably, the Y-axis direction lead screw module 02 of the three-axis motion platform is fixed on the Y-direction support beam 09 of the peripheral frame 3 through sheet metal parts 21 (the number is 4), and is connected with the X-axis direction lead screw module 01, as shown in fig. 6.
Preferably, a stepping motor 04 or a servo motor is arranged at the top of the Z-axis direction lead screw module 03 of the three-axis motion platform, and the bottom of the Z-axis direction lead screw module is connected with the vertical direction connecting component 18.
Preferably, the controller further executes the following program:
s0', after the capsule swallowing robot of the user lies on the bed body 20, starting an external control device;
s1', controlling to supply power to a suspension control module 2, and timing until the power supply time reaches a set time for stabilizing a magnetic field generated by the suspension control module 2;
s2', controlling the capsule robot to be powered on, monitoring the position of the capsule robot in real time in the power-on process until the capsule robot is monitored to be in a suspension state, recording initial position information of the capsule robot at the current moment, and sending a control instruction of a ready inspection mode to be confirmed to a user;
s3', after receiving a coverage type inspection instruction or a target inspection instruction fed back by a user, generating a motion track point diagram of the capsule robot according to the initial position information and a specific instruction, and a program for changing the yaw angle and the pitch angle of each target position, wherein the program for changing the yaw angle and the pitch angle is 60 degrees in total and 10 degrees in each deflection;
s4', controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction through the suspension control electromagnetic coil 22;
s51', temporarily stopping the movement of the triaxial motion platform at each target position, and correcting the original electrified coil power supply scheme of the direction control module 1 according to the lens data of the capsule robot at the current moment;
s52', supplying power to the direction control module 1 according to the corrected power supply scheme of the electrified coil, executing a program for changing the yaw angle and the pitch angle of the target position, and acquiring lens data of the capsule robot at each moment;
s53' identifying whether the lens data of the capsule robot exists screening abnormity at each moment, if so, automatically recording the lens data of the capsule robot with the screening abnormity, and sending an alarm;
and S6', completing the lens data identification of each target position in the motion track point diagram so as to control the capsule to execute corresponding coverage inspection or target inspection.
In implementation, the X-axis direction lead screw module 01 moves on the guide rail in the X direction through the stepping motor, and the Y-axis direction lead screw module 02 moves on the guide rail in the Y direction through the stepping motor; the Z-axis lead screw module 03 moves on a guide rail in the Z-direction thereof by a stepping motor. And the three have a mutual movement relationship.
The X-axis direction lead screw module 01 is integrally connected with the Y-axis direction lead screw module 02 through a bottom connecting part, and the Z-axis direction lead screw module 03 is connected with the X-axis direction lead screw module 01 through a bottom connecting part. The Y-direction movement of the Z-axis direction lead screw module 03 is realized by the Y-direction lead screw module 02 moving in the Y direction, and the X-direction movement of the Z-axis direction lead screw module 03 is realized by the X-direction lead screw module 01 moving in the X direction. Through the matching of the three modules in different directions, the parts on the Z-axis direction lead screw module 03, namely the vertical direction connecting part 18 (used for receiving small coils and with the number of 1), are finally realized, and the suspension control electromagnetic coil 22 is driven to freely move in three directions of X, Y, Z; the magnetic field generated by the suspension control electromagnetic coil 22 helps the capsule robot to suspend in gastric juice, and plays a role in suspension control.
Compared with the prior art, the external control device of the magnetic control capsule robot has the following beneficial effects:
1. the control effect of the external magnetic control device on the market at present can not meet the inspection requirements far away, the covering type and the targeted inspection of the whole gastrointestinal tract are difficult to realize, certain missed diagnosis risks exist, and the inspection of key positions can not be detailed enough. The scheme provides an external magnetic control device capable of accurately controlling the position and the posture of the capsule robot, motion control of five degrees of freedom of the capsule robot, namely yaw and pitch and translation along the X, Y, Z three-axis is achieved, inclination angle increment control of the capsule robot not exceeding 2 degrees is achieved, and the capsule robot has good fixed point suspension position stability and motion stability and can meet the inspection requirements.
2. Through setting up step motor or servo motor, can realize the accurate control of position.
3. The capsule robot generates translational motion in a corresponding direction by using a gradient magnetic field in any direction generated by an orthogonal combination Maxwell coil; the capsule robot generates rotary motion by using a rotary magnetic field generated by a Helmholtz coil; when the magnetic force applied to the capsule robot forms an included angle with the direction of the magnetic moment, the capsule robot generates spiral scanning type movement. And the spiral scanning motion is expanded along the pipeline-type wall surface, so that the capsule robot is beneficial to performing photographic inspection on the surface of the gastrointestinal tract.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles of the embodiments, the practical application, or improvements made to the prior art, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An external control device of a magnetic control capsule robot is characterized by comprising a bed body (20), a direction control module (1), a suspension control module (2), a peripheral frame (3) and a controller;
the direction control module (1) is fixed on the inner wall of the peripheral frame (3), comprises 3 groups of electrified coils with mutually vertical directions and is used for generating a synthetic magnetic field to adjust the pitch angle or the yaw angle of the capsule robot; the bed body (20) is arranged in the inner space of the direction control module (1) during testing;
the suspension control module (2) comprises a three-axis motion platform and a suspension control electromagnetic coil (22) which extends into the direction control module (1) and is arranged above the bed body (20); the suspension control electromagnetic coil (22) is fixed below the movable component of the three-axis motion platform and is used for towing the capsule robot;
the controller is used for supplying power to the suspension control module (2) after being started, so that the capsule robot is in a suspension state; after receiving an inspection instruction sent by a user, controlling the three-axis motion platform to move and pull the capsule robot to move to a target position along a set direction, supplying power to the direction control module (1), and controlling the capsule robot to execute an inspection program of a corresponding pitch angle and a corresponding yaw angle at the target position.
2. The external control device of a magnetron capsule robot as claimed in claim 1, wherein the controller executes the following program:
after starting, supplying power to the suspension control module (2) until the generated magnetic field is stable;
controlling the capsule robot to be powered on so that the capsule robot is in a suspension state;
generating a motion track point diagram after receiving an overlay type inspection instruction or a target inspection instruction fed back by a user;
controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction;
temporarily stopping the movement of the triaxial motion platform at each target position, and correcting the original electrified coil power supply scheme of the direction control module (1) according to the lens data of the capsule robot at the current moment;
and supplying power to the direction control module (1) according to the corrected power supply scheme of the electrified coil so as to control the capsule to execute corresponding coverage type inspection or targeted inspection.
3. The external control device of the magnetron capsule robot as claimed in claim 1 or 2, wherein the direction control module (1) is composed of 6 square electromagnetic coils, each 2 square electromagnetic coils are oppositely arranged, and as a group, an X-direction electromagnetic coil (05), a Y-direction electromagnetic coil (06), and a Z-direction electromagnetic coil (07) are sequentially formed; the size and the current of each group of square electromagnetic coils are the same; and,
the three-axis motion platform is arranged above the direction control module (1);
the head of the capsule robot is provided with a lens, and an antenna and a Hall sensor are arranged in the capsule robot;
the capsule robot is also internally provided with a permanent magnet which is used for moving or rotating after being electrified to acquire gastroscope data and positioning data of a user and send the gastroscope data and the positioning data to the controller.
4. The external control device of the magnetron capsule robot as claimed in claim 3, wherein the upper part of the bed body (20) is provided with at least one area for the patient to lie across and a movable control panel, the bottom of the bed body (20) is provided with movable wheels, and the middle axial plane of the width of the bed body coincides with the middle axial plane of the electromagnetic coil (06) in the Y direction in the direction control module (1); and,
the bed body (20) is arranged outside the peripheral frame (3) during non-testing, and the movable control panel can automatically stretch out and draw in the inner space of the direction control module (1) after being electrified during testing.
5. The external control device of a magnetron capsule robot as claimed in claim 4, characterized in that the direction control module (1) further comprises a housing; wherein,
the shell of the direction control module (1) is made of 6 panel materials, the Y-axis direction panel material is connected with the X-axis direction panel material through 8 corner connectors (0801), and the Z-axis direction panel material is connected with the X-axis direction panel material through 8 corner connectors (0801).
6. The external control apparatus of a magnetron capsule robot as claimed in claim 5, characterized in that the peripheral frame (3) further comprises 2Y-direction support beams (09), 4 vertical-direction support beams (10), 4X-direction support beams (11), 4 coil bottom Y-direction support beams (14, 15), 2 coil bottom X-direction support beams (12); wherein,
2 parallel Y-direction supporting beams (09) are arranged above a top electrified coil of the direction control module (1); a vertical support beam (10) is respectively fixed below the end point of each Y-direction support beam (09); two vertical direction supporting beams (10) on each side of the pair of sides are fixedly connected through 2X direction supporting beams (11);
a layer of parallel coil bottom X-direction supporting beams (12) and 2 layers of parallel coil bottom Y-direction supporting beams (14, 15) are respectively fixed below a bottom electrified coil of the direction control module (1);
the bottom of an X-axis direction plate of a shell in the direction control module (1) is fixed on an X-direction supporting beam (12) at the bottom of a coil through 4 fixing blocks (13); the coil bottom X-direction supporting beam (12) is fixed on a first layer of coil bottom Y-direction supporting beam (14) through 8 corner connectors, and the first layer of coil bottom Y-direction supporting beam (14) is fixed on a second layer of coil bottom Y-direction supporting beam (15) through the corner connectors.
7. The external control device of the magnetron capsule robot as claimed in claim 6, wherein the three-axis motion platform further comprises an X-axis direction lead screw module (01), a Y-axis direction lead screw module (02), a Z-axis direction lead screw module (03), a plurality of independent stepping motors (04) or servo motors; wherein,
the X-axis direction lead screw module (01) moves on a guide rail in the X direction through at least one independent stepping motor (04) or servo motor;
the Y-axis direction lead screw module (02) moves on a guide rail in the Y direction through at least one independent stepping motor (04) or servo motor;
the Z-axis direction lead screw module (03) moves on a guide rail in the Z direction through at least one independent stepping motor (04) or servo motor.
8. The external control device of a magnetron capsule robot as claimed in claim 7, characterized in that the three-axis motion platform further comprises vertical direction connecting members (18); wherein,
two Y-axis direction lead screw modules (02) are arranged on the Y-direction supporting beam (09) of the peripheral frame (3) in parallel along the Y-axis direction, and the upper surfaces of the two are lapped and fixed with the X-axis direction lead screw module (01); the middle part of the X-axis direction lead screw module (01) is fixedly connected with the middle part of the Z-axis direction lead screw module (03);
the bottom of the vertical direction connecting component (18) is fixed with a suspension control electromagnetic coil (22) used for bearing the suspension control electromagnetic coil (22), and the top of the vertical direction connecting component is fixedly connected with a Z-axis direction lead screw module (03).
9. The external control device of the magnetron capsule robot as claimed in claim 8, wherein the Y-axis direction lead screw module (02) of the three-axis motion platform is fixed on the Y-direction support beam (09) of the peripheral frame (3) through a sheet metal part (21);
the top of a Z-axis direction lead screw module (03) of the three-axis motion platform is provided with a stepping motor (04) or a servo motor, and the bottom of the three-axis motion platform is connected with a vertical connecting component (18).
10. The external control device of a magnetron capsule robot as claimed in any one of claims 4 to 9, wherein the controller executes the following program:
after the user swallows the capsule robot and lies on the bed body (20), the external control device is started;
controlling to supply power to the suspension control module (2), and timing until the power supply time reaches a set time for stabilizing the magnetic field generated by the suspension control module (2);
controlling the capsule robot to be powered on, monitoring the position of the capsule robot in real time in the power-on process until the capsule robot is monitored to be in a suspension state, recording the initial position information of the capsule robot at the current moment, and sending a control instruction of preparing to-be-confirmed inspection mode to a user;
after a covering type inspection instruction or a target inspection instruction fed back by a user is received, generating a motion track point diagram of the capsule robot and a program for changing the yaw angle and the pitch angle of each target position according to the initial position information and the specific instruction;
controlling the three-axis motion platform to move according to the motion track point diagram, and dragging the capsule robot to move to each target position in the motion track point diagram along a set direction through a suspension control electromagnetic coil (22);
temporarily stopping the movement of the triaxial motion platform at each target position, and correcting the original electrified coil power supply scheme of the direction control module (1) according to the lens data of the capsule robot at the current moment;
supplying power to a direction control module (1) according to the corrected power supply scheme of the electrified coil, executing a program for converting the yaw angle and the pitch angle of the target position, and acquiring lens data of the capsule robot at each moment;
identifying whether the lens data of the capsule robot exists screening abnormity at each moment, if so, automatically recording the lens data of the capsule robot with the screening abnormity, and sending an alarm;
and completing lens data identification of each target position in the motion track point diagram so as to control the capsule to execute corresponding coverage inspection or targeted inspection.
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