CN105962876B - A kind of capsule endoscope controller - Google Patents

Abstract

The invention discloses an endoscope capsule controller, which includes a magnet for controlling the movement of the capsule, and a magnet universal rotating device for controlling the rotation and rollover of the magnet; it can swing in the horizontal direction and is used for hanging the magnet universal The swing arm of the rotating device; the main arm that can swing in the vertical direction and is used to adjust the height of the magnet, the main arm is hinged with the swing arm; the turntable for installing the main arm and can rotate in the horizontal direction, the turntable and the main arm Hinged; the swivel table is hinged with a horizontal holding rod for controlling the swing arm to be in a horizontal state. The endoscope capsule controller provided by the present invention realizes the control of the five degrees of freedom of the magnet by setting a magnet universal rotating device, a swing arm, a main arm, a rotary table, etc., and at the same time reduces its own volume, and, by setting The horizontal holding rod can not only ensure the accuracy of the swing arm position, but also save the setting of the horizontal motor and the processing cost of the controller, which can effectively improve the market competitiveness.

Description

An endoscope capsule controller

technical field

The invention relates to the field of endoscope capsule control equipment, in particular to an endoscope capsule controller.

Background technique

The active drive and control of oral capsule endoscope has become a research hotspot and frontier of minimally invasive or non-invasive diagnosis and treatment technology, which can effectively reduce the diagnosis and treatment cycle and the pain of patients. The active adjustment of the posture of the capsule endoscope in the body and the active control of walking can solve the problem of visual blind spots in interventional diagnosis, so it is of great significance to clinical diagnostic technology.

At present, the control of endoscopic capsules is mainly controlled manually through external magnets. However, in clinical applications, manual control has unsatisfactory control effects, low positioning accuracy, and long operator training time, and there is a large blind spot in capsule inspection. .

In the prior art, the robot controller is better for the movement control effect of the endoscope capsule. The movement precision of the robot controller is high and the control is accurate. The existing robot controller includes X-axis slide rails, Y-axis slide rails, For structures such as Z-axis slide rails, the design of the slide rails results in a very large mechanism, which requires a larger room to accommodate, and is inconvenient to use.

Therefore, how to reduce the volume of the endoscope capsule controller and improve its operational flexibility is a technical problem to be solved by those skilled in the art.

Contents of the invention

The object of the present invention is to provide an endoscope capsule controller, which can effectively reduce its own volume and facilitate operation.

In order to solve the above technical problems, the present invention provides the following technical solutions:

An endoscopic capsule controller including a magnet for controlling movement of the capsule, further comprising:

A magnet universal rotating device for controlling the rotation and rollover of the magnet;

A swing arm that can swing horizontally and is used to suspend the magnet universal rotation device;

a main arm that can swing vertically and is used to adjust the height of the magnet, the main arm is hinged to the swing arm;

Preferably, it also includes a turntable for installing the main arm and capable of rotating in the horizontal direction, the turntable is hinged with the main arm;

A horizontal holding bar for controlling the swing arm to be in a horizontal state is hinged on the turntable.

Preferably, a motor frame is provided between the swing arm and the main arm, and both the motor frame and the main arm and the motor frame and the swing arm are hinged, and the horizontal One end of the holding rod away from the turntable is hinged to the motor frame.

Preferably, the rotation center of the motor frame and the main arm, the rotation center of the main arm and the turntable, the connection point between the horizontal holding rod and the turntable, and the connection point between the horizontal holding rod and the turntable The connection point of the motor frame is in the form of a parallelogram structure.

Preferably, the connection between the swing arm and the motor frame forms a swing arm swing joint, and a swing motor for providing power for swinging the swing arm in a horizontal direction is installed at the swing arm swing joint.

Preferably, the connection between the turntable and the main arm forms a main arm pitch joint, and a pitch motor for providing power for the main arm to swing vertically is installed at the main arm pitch joint.

Preferably, the lower end of the turntable is also connected with a turntable rotating part for driving the turntable to rotate.

Preferably, the rotating part of the turntable includes a fixed plate of a reducer, a drive shaft of a reducer, and a bending-resistant device for bearing bending moment.

Preferably, the anti-bending device includes a hollow rotating shaft sleeved on the outer periphery of the drive shaft of the reducer and fixedly connected to the fixed plate of the reducer; a bearing seat sleeved on the outer periphery of the hollow rotating shaft; A bearing between the hollow rotating shaft and the bearing seat is used for the bearing seat to rotate along the hollow rotating shaft.

Preferably, the magnet universal rotation device is provided with a reducer frame for suspending the magnet, and a moving motor for providing power for the movement of the magnet; the moving motor is installed on the swing arm .

The endoscope capsule controller provided by the present invention includes a magnet for controlling the movement of the capsule, and a magnet universal rotation device for controlling the rotation and rollover of the magnet; it can swing in the horizontal direction and is used for suspending the The swing arm of the magnet universal rotating device; the main arm that can swing in the vertical direction and is used to adjust the height of the magnet, the main arm is hinged with the swing arm; it is used to install the main arm and can move horizontally A turntable that rotates in one direction, the turntable is hinged to the main arm; a horizontal holding bar for controlling the swing arm to be in a horizontal state is hinged on the turntable. The endoscope capsule controller realizes the control of the five degrees of freedom of the magnet by setting the magnet universal rotation device, the swing arm, the main arm, the turntable, etc., so that the magnet The movement control of the controller is more precise. At the same time, the controller does not need to be equipped with a slide rail mechanism, which can effectively reduce its own volume and significantly expand the scope of application. In addition, the controller also ensures that the swing arm Always in a horizontal state, the setting of the horizontal maintaining rod can not only ensure the accuracy of the position of the swing arm, but also save the setting of the horizontal motor and the processing cost of the controller, which can effectively improve the market competitiveness.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural view of a specific embodiment of an endoscope capsule controller provided by the present invention;

Fig. 2 is an enlarged view of the main arm of the endoscope capsule controller described in Fig. 1;

Fig. 3 is an enlarged view of the magnet universal rotation device of the endoscope capsule controller shown in Fig. 1;

Fig. 4 is a structural simulation schematic diagram of the endoscope capsule controller shown in Fig. 1;

Fig. 5 is a schematic diagram of the simulation results of the endoscope capsule controller shown in Fig. 1;

Among them: 1-base rotation joint, 2-main arm pitch joint, 3-swing arm horizontal joint, 4-swing arm swing joint, 5-magnet rotation joint, 6-magnet flip joint, 7-base, 8-rotation Platform, 9-main arm, 10-horizontal holding rod, 11-motor seat, 12-swing arm, 13-moving motor, 14-magnet universal rotating device, 15-magnet.

Detailed ways

The core of the present invention is to provide an endoscope capsule controller, which can significantly reduce its own volume, is convenient to operate, and has low manufacturing cost.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to FIG. 1 to FIG. 3 , FIG. 1 is a schematic structural view of a specific embodiment of the endoscope capsule controller provided by the present invention, and FIG. 2 is an enlarged view of the main arm of the endoscope capsule controller in FIG. 1 , FIG. 3 is an enlarged view of the magnet universal rotation device of the endoscope capsule controller shown in FIG. 1 .

In this embodiment, the endoscope capsule controller includes structures such as a magnet 15 , a magnet universal rotation device 14 , a swing arm 12 , and a main arm 9 .

Among them, the magnet 15 is used to control the movement of the capsule. The capsule moves during the movement of the magnet 15 to complete the detection of the healer. The movement accuracy of the magnet 15 is crucial for the movement of the capsule;

The magnet universal rotation device 14 is used to control the rotation and rollover of the magnet 15, that is, to drive the magnet 15 to roll in the vertical direction and rotate in the horizontal direction, so as to realize the omnidirectional movement of the magnet 15;

The swing arm 12 is used to suspend the magnet universal rotating device 14, and can swing along the horizontal direction;

The main arm 9 is used to adjust the height of the magnet 15, and can swing in the vertical direction, that is, the main arm 9 can perform pitching motion, the main arm 9 is hinged with the swing arm 12, and the swing arm 12 can swing with one end of the main arm 9 as the center of the circle .

The endoscope capsule controller also includes a turntable 8, the turntable 8 is used to install the main arm 9 and can rotate in the horizontal direction, the turntable 8 is hinged with the main arm 9, and the turntable 8 is hinged for controlling the swing arm 12 The level holding bar 10 in a horizontal state.

Specifically, a motor base 11 is provided between the swing arm 12 and the main arm 9, and both between the motor base 11 and the main arm 9 and between the motor base 11 and the swing arm 12 are hinged, and the connection between the motor base 11 and the main arm 9 A swing arm horizontal joint 3 is formed at the place, and one end of the horizontal holding rod 10 is hinged with the turntable 8, and the other end is hinged with the motor base 11.

At the same time, the rotation center of the motor base 11 and the main arm 9, the rotation center of the main arm 9 and the turntable 8, the connection point between the horizontal holding rod 10 and the swivel table 8, and the connection point between the horizontal holding rod 10 and the motor base 11 form a parallelogram. Structure, as shown in Figure 2, namely motor seat 11 and the rotation center of main arm 9 and the connection line of two rotation centers of main arm 9 and the rotation center of turntable 8 are parallel to the extension direction of horizontal holding bar 10.

When the main arm 9 is pitching, under the action of the horizontal holding rod 10, the motor base 11 rotates so that the swing arm 12 is always in a horizontal state. Therefore, there is no need to install a horizontal motor at the swing arm horizontal joint 3, which saves costs.

The endoscope capsule controller realizes the control of the five degrees of freedom of the magnet 15 by setting the magnet universal rotating device 14, the swing arm 12, the main arm 9, and the rotary table 8, so that the movement control of the magnet 15 is more precise, At the same time, the controller does not need to be equipped with a slide rail mechanism, which can effectively reduce its own volume and significantly expand the scope of application. In addition, the controller also ensures that the swing arm 12 is always in a horizontal state by setting the horizontal holding rod 10, and the horizontal holding rod The setting of 10 can not only ensure the accuracy of the position of the swing arm 12, but also save the setting of the horizontal motor and the processing cost of the controller, which can effectively improve the market competitiveness.

Further, the connection between the swing arm 12 and the motor base 11 forms the swing arm swing joint 4, and the swing arm swing joint 4 is installed with a swing motor for providing power for swinging the swing arm 12 in the horizontal direction.

On the other hand, the connection between the turntable 8 and the main arm 9 forms the main arm pitch joint 2, and the main arm pitch joint 2 is equipped with a pitch motor for providing power for the main arm 9 to swing in the vertical direction.

Specifically, the lower end of the turntable 8 is also connected with a turntable rotating part for driving the turntable 8 to rotate, and the base rotating joint 1 is formed at the rotating part of the turntable to realize the rotation of the whole cantilever.

More specifically, the rotating part of the turntable includes a fixed plate of a reducer, a reducer and a bending-resistant device for bearing bending moment. The anti-bending device includes a hollow rotating shaft sleeved on the outer periphery of the reducer and fixedly connected to the fixed plate of the reducer; a bearing seat sleeved on the outer periphery of the hollow rotating shaft; located between the hollow rotating shaft and the bearing seat, used for the bearing seat along the hollow Bearings on which the shaft turns.

The anti-bending device is provided with a moment-resistant structure consisting of bearings, bearing housings and hollow shafts. The bearing housings transmit the bending moment from the cantilever to the hollow shaft through the bearings. The reducer no longer accepts large bending moments. The main transmission torque is Yes, so that the reducer only needs to select a suitable model according to the torque, and the volume of the reducer is effectively reduced, saving space and reducing costs.

Further, the magnet universal rotating device 14 is provided with a reducer frame for suspending the magnet 15, and a moving motor 13 for providing power for the movement of the magnet 15, and the moving motor 13 includes a rotating motor for controlling the rotation of the magnet and A tumbling motor for controlling the tumbling of the magnet; two kinds of magnet 15 moving motors 13 are all installed on the swing arm 12 .

Two joints are formed in the magnet universal rotating device 14, the magnet rotating joint 5 controlled by the rotating motor and the magnet rolling joint 6 controlled by the rolling motor.

In the above setting, after the transmission mechanism is added, the mobile motor 13 is installed on the swing arm 12 away from the magnet 15, which can effectively reduce or eliminate the interference of the magnetic field generated by the magnet 15 to the motor, ensure the normal and effective use of the motor, and improve the performance of the motor. The precision of magnet 15 movement control.

In addition, the controller also includes a base 7 supporting the entire device, and the rotating parts of the turntable are fixedly installed on the base 7 . Of course, in order to facilitate the movement of the entire controller, the bottom of the base 7 can also be provided with rollers.

As shown in Figure 1, the endoscope capsule controller provided in this embodiment adopts a serial multi-joint structure design to realize 5 degrees of freedom of motion, including a base 7, and a base rotary joint 1 mounted on the base 7 , the main arm pitch joint 2 hinged on the base rotary joint 1, the quick-adjust swing arm horizontal joint 3 hinged in series on the main arm pitch joint 2, the swing arm swing joint 4 connected in series to the swing arm horizontal joint 3, and the magnet rotary joint 5 is connected in series to the end of the swing arm swing joint 4, the magnet rolling joint 6 is embedded in the magnet rotating joint 5, and the magnet 15 is installed in the magnet rolling joint 6.

The above-mentioned joints are independently driven by servo motors, and there are 5 servo motors in total.

Specifically, the working process of the endoscope capsule controller is:

The base rotary joint 1 is driven by a motor, so that the mechanism of the five joints on the base 7 rotates as a whole;

The pitch joint 2 of the main arm is hinged on the rotary joint 1 of the base, and is driven by the pitch motor to control the pitch of the main arm 9, thereby controlling the height change of the end magnet 15;

The horizontal joint 3 of the swing arm is connected in series to the pitch joint 2 of the main arm, through the horizontal holding mechanism (as shown in Figure 2), without motor drive;

The swing arm swing joint 4 is serially connected to the swing arm horizontal joint 3, and is driven by a swing motor to control the horizontal rotation of the swing arm;

The above-mentioned four joints are driven by three motors and jointly move to control the position of the terminal magnet 15 on the X, Y, and Z axes, and control the spatial position of the magnet 15;

The magnet rotating joint 5 is connected in series to the end of the swing arm 12, driven by a magnet rotating motor, and controls the horizontal rotation of the magnet 15;

The magnet rolling joint 6 is embedded in the magnet rotating joint 5, and an external magnet rolling motor is driven to control the vertical rolling of the magnet 15. The magnet rotating joint 5 and the magnet rolling joint 6 together form a magnet universal rotating device 14, as shown in the figure 3.

Base rotation joint 1, main arm pitch joint 2, swing arm swing joint 4, magnet rotation joint 5 and magnet rollover joint 6 are driven by separate motors respectively, base rotation joint 1, main arm pitch joint 2 and swing arm swing joint 4's combined movement completes the control of the three-axis positions of the controller X, Y, and Z. In addition, the magnet universal rotating device 14 at the front of the controller controls the attitude of the magnet 15 to realize the rotation and rolling of the magnet 15, thereby achieving control All degrees of freedom needed for magnet 15.

The structural simulation of the five-degree-of-freedom series endoscope capsule controller provided by this embodiment is shown in Figure 4. The following simulates its working range, which includes 3 sections of mechanical arms, the length of the main arm 9OA is l, and the length of the swing arm 12AC is m. The length h from the end of the swing arm 12 to the end CB of the magnet 15, the pitch angle β of the main arm 9OA, the rotation angle α of the base 7, the rotation angle γ of the swing arm 12, and the position (x, y, z) of the end B of the magnet 15.

The relationship between the space coordinates of point B and the joint angle can be expressed by the following formula:

(1) x＝lcosβ·cosα+mcos(α+γ)

(2) y＝lcosβ·sinα+msin(α+γ)

(3) z=lsinβ-h

It can be seen from the above formula that the position of point B in the Z direction is only related to the β angle. When the position of point B in the X and Y directions is fixed and only the coordinates of the Z axis are changed, the expressions of the γ and α angles are as follows:

in,

A=lcosβ+mcosγ

B = msinγ

The simulation results are shown in Figure 5. All points are within the reach of the magnet 15. It can be seen that with this mechanical structure design, the working range of the magnet 15 above the inspector is very wide, which fully meets the inspection requirements for the inner diameter of the capsule. .

The five-degree-of-freedom structure is used to realize the universal attitude control of the end effector, and the parallelogram structure is used to replace the horizontal attitude control motor. While maintaining the horizontal attitude more accurately, it reduces the complexity of the system and the volume of the controller. , which is conducive to operation.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The endoscope capsule controller provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (7)

1. An endoscope capsule controller comprising a magnet (15) for controlling movement of a capsule, characterized by:

a magnet universal rotating device (14) for controlling the rotation and the rolling of the magnet (15);

a swing arm (12) which can swing along the horizontal direction and is used for suspending the magnet universal rotating device (14);

a main arm (9) which can swing in the vertical direction and is used for adjusting the height of the magnet (15), wherein the main arm (9) is hinged with the swing arm (12); further comprising:

a rotary table (8) which is used for mounting the main arm (9) and can rotate along the horizontal direction, wherein the rotary table (8) is hinged with the main arm (9);

a horizontal maintaining rod (10) for controlling the swing arm (12) to be in a horizontal state is hinged on the rotary table (8); a motor base (11) is arranged between the swing arm (12) and the main arm (9), the motor base (11) and the main arm (9) and the motor base (11) and the swing arm (12) are hinged, and one end, away from the rotary table (8), of the horizontal holding rod (10) is hinged with the motor base (11); the rotating centers of the motor base (11) and the main arm (9), the rotating centers of the main arm (9) and the rotary table (8), the connecting point of the horizontal maintaining rod (10) and the rotary table (8) and the connecting point of the horizontal maintaining rod (10) and the motor base (11) form a parallelogram structure.

2. An endoscope capsule controller according to claim 1, characterized in that the connection of the swing arm (12) and the motor base (11) forms a swing arm swing joint (4), and a swing motor for powering the swing arm (12) to swing in a horizontal direction is mounted at the swing arm swing joint (4).

3. The endoscope capsule controller of claim 1, wherein the joint of the rotary table (8) and the main arm (9) forms a main arm pitch joint (2), and a pitch motor for providing power for the main arm (9) to swing in the vertical direction is installed at the main arm pitch joint (2).

4. The endoscopic capsule controller according to claim 3, wherein a rotary table rotating part for driving the rotary table (8) to rotate is further connected to the lower end of the rotary table (8).

5. The endoscopic capsule controller of claim 4, wherein the turret rotation component comprises a reducer holding pan, a reducer drive shaft, and a bending resistance device for carrying bending moments.

6. The endoscope capsule controller of claim 5, wherein the bending-resistant device comprises a hollow rotating shaft sleeved on the outer circumference of the transmission shaft of the speed reducer and fixedly connected with the fixed disk of the speed reducer; the bearing block is sleeved on the peripheral part of the hollow rotating shaft; and the bearing is positioned between the hollow rotating shaft and the bearing seat and is used for enabling the bearing seat to rotate along the hollow rotating shaft.

7. An endoscope capsule controller according to any one of claims 1 to 6, characterized in that said magnet universal rotation device (14) is provided with a reducer frame for suspending said magnet (15) and a movement motor (13) for powering the movement of said magnet (15); the moving motor (13) is installed on the swing arm (12).