CN109645938A - A kind of capsule endoscope cruise control method and capsule endoscope system - Google Patents
A kind of capsule endoscope cruise control method and capsule endoscope system Download PDFInfo
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- CN109645938A CN109645938A CN201910140339.4A CN201910140339A CN109645938A CN 109645938 A CN109645938 A CN 109645938A CN 201910140339 A CN201910140339 A CN 201910140339A CN 109645938 A CN109645938 A CN 109645938A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2733—Oesophagoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/0018—Physician's examining tables
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Abstract
The invention discloses a kind of capsule endoscope cruise control method and capsule endoscope systems.This method comprises: S1, controller controls capsule endoscope great-jump-forward traveling in all or part of operational process in human intracavity all or in part；S2, in traveling process or hop interval, the camera lens of capsule endoscope carries out image scanning to internal chamber wall.Capsule great-jump-forward in human intracavity is advanced, rather than it advances along internal chamber wall, influence capsule by such as fold, protrusion or pit obstacle on internal chamber wall in traveling, these obstacles are avoided to move the uncontrollable resistance of bring to capsule, it ensure that capsule can effectively advance according to scheduled path, to rapidly and accurately be scanned to internal chamber wall comprehensively.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly in a kind of capsule endoscope cruise control method and capsule
Mirror system.
Background technique
The driving force that capsule endoscope is subject in vivo is generally indirect active force, during the motion can be because of in-vivo tissue
Structural form bring can not resistive drag force weaken driving force or make capsule endoscope movement invalid, therefore exist to capsule endoscope
The endoceliac operation of people, which is made rational planning for, is advantageously implemented checking comprehensively with not omitting for cavity.
The Chinese patent of Publication No. CN107049213A discloses a kind of capsule endoscope control method in the prior art, should
Method includes: to call starting position；Control motion control device makes capsule endoscope be in starting position；Call kinematic parameter, institute
Stating kinematic parameter includes movement screw pitch s, angular velocity of satellite motion；Call final position；The movement is controlled based on the kinematic parameter
Control device makes the capsule endoscope move to the final position in a manner of screw.This method is based on kinematic parameter control
Motion control device processed makes capsule endoscope move to final position in a manner of screw, by controlling motion control device,
It indirectly controls capsule endoscope to spin on stomach wall movement, entire stomach inner wall can be shot, be avoided because of manual operation glue
Intracapsular mirror movement causes leakage to clap to cause missing inspection.The movement but patent control capsule endoscope is spinned on stomach wall, because of stomach
There is the blocking structures forms such as wrinkle wall in wall mucous membrane, can generate resistance to the screw of capsule endoscope, or make its motion failures,
And then it cannot achieve the purpose that check stomach wall comprehensively.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively propose in a kind of capsule
Mirror cruise method and capsule endoscope system.
In order to realize above-mentioned purpose of the invention, according to the first object of the present invention, the present invention provides a kind of capsules
Scope cruise control method, comprising:
S1, controller control capsule endoscope and jump in all or part of operational process in human intracavity all or in part
Jump formula is advanced；
S2, in traveling process or hop interval, the camera lens of capsule endoscope carries out image scanning to internal chamber wall.
Above-mentioned technical proposal has the beneficial effect that capsule great-jump-forward in human intracavity is advanced, rather than advances along internal chamber wall,
It influences capsule by such as fold, protrusion or pit obstacle on internal chamber wall in traveling, these obstacles is avoided to move to capsule
The uncontrollable resistance of bring ensure that capsule can effectively advance according to scheduled path, thus rapidly and accurately to inner cavity
Wall is scanned comprehensively.
In the preferred embodiment of the present invention, controller control capsule moves back and forth opposite two in human intracavity
On side wall.
Having the beneficial effect that for above-mentioned technical proposal discloses a kind of concrete mode of great-jump-forward traveling, and which is in phase
To round-trip jump is advanced back and forth on two sidewalls, there is in opposite two side walls landing point respectively and completed in the landing point
The image rotation scanning shoot of opposing sidewalls realizes entire cavity or requires comprehensive automatic detection of the part cavity of test, no
Retest is needed, testing efficiency is improved.
In the preferred embodiment of the present invention, in the interval of reciprocating motion, capsule is on the internal chamber wall of landing
It carries out lateral, inclination or rotary motion and scans cavity wall image.
Above-mentioned technical proposal has the beneficial effect that disclosing capsule passes through the conventional fortune of lateral, inclination or rotary motion
Flowing mode, which is realized, to be moved back and forth, convenient for external manipulation.
In the preferred embodiment of the present invention, further includes:
S3, controller carries out the position identification in human intracavity based on scan image, and adjusts capsule according to recognition result
Jumping concentration of the scope at the position.
Above-mentioned technical proposal has the beneficial effect that according to the intensive journey for rationally adjusting jumping the characteristics of each position
Intensive jumping such as can be set at the body of stomach position of larger area to avoid missing inspection and realize keypoint part observation in degree.
In the preferred embodiment of the present invention, the S3 further includes combining position of the patient relative to examination couch head
The step of setting correction position recognition result.
Having the beneficial effect that for above-mentioned technical proposal prevents position in human intracavity from identifying wrong bring missed detection risk.
It in the preferred embodiment of the present invention, further include that capsule endoscope is moved to target to rise before the S1
The step of beginning position.
Having the beneficial effect that for above-mentioned technical proposal advances according to the path of planning convenient for capsule, is conducive to position identification.
In the preferred embodiment of the present invention, in the S2 image scanning method are as follows: capsule is being landed
Internal chamber wall on tilt different angle and using the normal of the internal chamber wall of landing be rotary shaft progress rotary scanning.
Having the beneficial effect that for above-mentioned technical proposal can complete different angle to human body by the rotary scanning of different angle
The circular observation of internal chamber wall, avoids missing inspection.
In the preferred embodiment of the present invention, the S1 includes:
S11, control capsule endoscope from the first side wall of human intracavity in the horizontal direction or vertical direction or the first inclination side
To being moved to the second sidewall opposite with the first side wall, then controls capsule endoscope and moved from second sidewall along the second inclined direction
It is dynamic to be back to the first side wall；First inclined direction and the second inclined direction are identical；
S12 repeats S11 until advancing and completes inner cavity all or in part.
Having the beneficial effect that for above-mentioned technical proposal discloses a kind of great-jump-forward travel track of capsule, and this track is to glue
The motion control of capsule is simple, easily implements.
In the preferred embodiment of the present invention, the S1 includes:
S13, control capsule endoscope human intracavity the first side wall along the human intracavity import to export direction or
After opposite direction translation or rolling in the horizontal direction or vertical direction or the first inclined direction be moved to it is opposite with the first side wall
Second sidewall, then control capsule endoscope after second sidewall is translated or rolled in same direction in the horizontal direction or vertical direction
Or second inclined direction movement be back to the first side wall；First inclined direction and the second inclined direction are identical；
S14 repeats S13 until advancing and completes inner cavity all or in part.
Having the beneficial effect that for above-mentioned technical proposal discloses another great-jump-forward travel track of capsule, and this track is logical
The number of the jumping in inner cavity all or in part can be reduced by crossing translation or tumbling motion, accelerate detection speed.
In order to realize above-mentioned purpose of the invention, according to the second object of the invention, the present invention provides a kind of capsules
Endoscope system, the capsule endoscope including examination couch, doctor's operation bench and interior magnet, the examination couch in supporting body for having
The patient of the capsule endoscope further includes the movement mechanism for controlling the capsule endoscope and being moved and being rotated, movement mechanism
Control terminal is connect with the output end of doctor's operation bench, and doctor's operation bench is according to any of the above-described capsule endoscope cruise control method control
Capsule endoscope processed cruises detection in human intracavity.
Above-mentioned technical proposal has the beneficial effect that the capsule endoscope system has above-mentioned capsule endoscope cruise control method
Advantageous effects.
Detailed description of the invention
Fig. 1 is a kind of cruise track schematic diagram of capsule in the embodiment of the invention；
Fig. 2 is another cruise track schematic diagram of capsule in the embodiment of the invention；
Fig. 3 is the schematic diagram of capsule different angle rotary taking in the embodiment of the invention.
Appended drawing reference:
1 stomach bottom；2 bodies of stomach；3 antrums；4 capsules.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The invention discloses a kind of capsule endoscope cruise control methods, comprising:
S1, controller control capsule endoscope and jump in all or part of operational process in human intracavity all or in part
Jump formula is advanced；
S2, in traveling process or hop interval, the camera lens of capsule endoscope carries out image scanning to internal chamber wall.
In the present embodiment, human intracavity can be for esophagus, stomach or enteron aisle etc., can be successively when such as human intracavity being stomach
Detected some or all of along stomach bottom 1, cardia, body of stomach 2, antrum 3 and pylorus, can also successively along pylorus, antrum 3,
It is detected some or all of in body of stomach 2, cardia stomach function regulating bottom 1.
In the present embodiment, the jumping mode of capsule 4 opposite sides in cavity wall that is included is jumped back and forth, across
In two side walls, comprehensive inspection of internal chamber wall can be completed by advancing in inner cavity to be detected so once in land.It can also jump
When only land on a side wall, jumped in inner cavity to be detected it is primary after, return to jump and simultaneously landing point be arranged another
On a opposite side wall, the complete detection of internal chamber wall to be detected thus may be implemented；The two certain side walls may not be
Opposite, need back and forth back and forth Multiple hop thus to realize the complete detection of inner cavity to be detected.
In the present embodiment, be the influence advanced to capsule of cavity wall obstacle in reducing, it is preferred that capsule can not
On internal chamber wall, the position when that will land is considered jump in land, and capsule 4 is still in the position by peripheral control unit device
Set carry out scanning shoot.
In the present embodiment, capsule endoscope is referred to as capsule 4, and the camera lens of capsule 4 can be shot during jump,
It can also be shot after inner wall landing at the interval of jump, or shooting of stopping when fast landing, it is preferred that the camera lens phase of capsule
It carries on the back and shoots the internal chamber wall image of the internal chamber wall opposite side in neighbouring internal chamber wall, the camera lens of capsule can also be opposite in neighbouring inner cavity
Wall shoots image, at this time, it may be necessary to adjust the focal length of camera lens.
In the preferred embodiment of the present invention, as depicted in figs. 1 and 2, controller control capsule 4 move back and forth in
In the two lateral walls of human intracavity.
In the present embodiment, it is preferred that move back and forth and carry out jump back jump phase in human intracavity for controller control capsule 4
To on two sidewalls, it is preferred that this carrys out jump back jump and extends along the import of human intracavity to export direction or opposite direction.Such as in gastral cavity
It is jumped back and forth to the direction of cardia on two opposite stomach walls along cardia to antrum or antrum.For patient, when
Patient lies low when examination couch, and because examination couch is parallel to ground, two lateral walls can be paries anterior gastricus and paries posterior gastricus, if patient-side
It crouches in examination couch, two lateral walls can be stomach left wall stomach function regulating right wall.
In the preferred embodiment of the present invention, in the interval of reciprocating motion, capsule is on the internal chamber wall of landing
It carries out lateral, inclination or rotary motion and scans cavity wall image.
In the present embodiment, the interval of reciprocating motion is capsule 4 after the rebound landing on internal chamber wall or when fast landing
When stopping, transverse movement includes translation, inclination movement etc., and banking motion refers to that capsule 4 obliquely lands far from capsule 4 in inner wall
The movement of point, rotary motion be it is mobile in a manner of rolling on internal chamber wall, be conducive in this way across internal chamber wall pleat or
Raised venereal disease becomes.Preferably, capsule 4 is built-in with magnet, drives capsule 4 in the lumen according to upper by operation external magnet device
The mode of stating moves, and can manipulate external magnet device by mechanisms such as mechanical arms, also be manually operable.
In the preferred embodiment of the present invention, further includes:
S3, controller carries out the position identification in human intracavity based on scan image, and adjusts capsule according to recognition result
Jumping concentration of the scope at the position.
In the present embodiment, in human intracavity each position image obvious differences, as the cardia of gastral cavity, stomach bottom 1,
Therefore stomach angle, body of stomach 2 etc. can go out the concrete position of institute in the lumen according to the obtained image recognition of scanning, what position identified
Method can refer in a kind of entitled alimentary canal anatomical position identification device of Publication No. CN108427988A in the prior art
The technical solution of state's patent.
In the present embodiment, in order to utmostly reduce missing inspection, for position such as body of stomach 2 or Zou of larger area
More antrum 3 or doubtful patient part are rolled over, can reduce jump spacing, thus can increase jumping on internal chamber wall
Lu Dian, and then increase image scanning point, missing inspection can be effectively avoided, jump spacing can be increased for other positions.
In the preferred embodiment of the present invention, S3 further includes combining position school of the patient relative to examination couch head
The step of positive position recognition result.
Illustrate when in the present embodiment, using human intracavity as gastral cavity, the stomach bottom 1 in gastral cavity compared with body of stomach 2 away from closer to the head,
Therefore, when identifying stomach bottom 1 and body of stomach 2, capsule 4 and head distance is big when detecting stomach bottom 1 and body of stomach 2 by comparing
It is small, or compare the size of the control mechanism and head distance that detect stomach bottom 1 and the movement of 2 time control glue capsule 4 of body of stomach, so that it may
Whether the recognition result for correcting stomach bottom 1 and body of stomach 2 is correct, can prevent from fully relying on stomach automated location bring mistake wind
Danger.
It in the preferred embodiment of the present invention, further include that capsule endoscope is moved to target initial part before S1
The step of position.
In the present embodiment, target starting position can be the import or export of human intracavity, such as the cardia of stomach or deep and remote
Door.
In the preferred embodiment of the present invention, in S2 image scanning method are as follows: as shown in figure 3, by capsule 4
Different angle is tilted on the internal chamber wall of landing and carries out rotary scanning by rotary shaft of the normal of the internal chamber wall of landing.Such as inclination
30 °, be rotated by 360 °；Inclination 45 is rotated by 360 °；60 ° of inclination is rotated by 360 °；90 ° of inclination is rotated by 360 °；And 135 ° of inclination,
It is rotated by 360 °, realizes circular comprehensive inspection.
In the preferred embodiment of the present invention, as shown in Figure 1, S1 includes:
S11, control capsule endoscope from the first side wall of human intracavity in the horizontal direction or vertical direction or the first inclination side
To being moved to the second sidewall opposite with the first side wall, then controls capsule endoscope and moved from second sidewall along the second inclined direction and returned
It is back to the first side wall；First inclined direction and the second inclined direction are identical；
S12 repeats S11 until completing the reciprocating motion of inner cavity all or in part.
Preferably, control capsule endoscope is moved to opposite with the first side wall along the vertical direction from the first side wall of human intracavity
Second sidewall driving force be capsule 4 itself gravity.
In the preferred embodiment of the present invention, as shown in Fig. 2, S1 includes:
S13, control capsule endoscope human intracavity the first side wall along human intracavity import to export direction or negative side
After to translation or rolling in the horizontal direction or vertical direction or the first inclined direction are moved to opposite with the first side wall
Two side walls, then control capsule endoscope after second sidewall is translated or rolled in same direction in the horizontal direction or vertical direction or
The movement of two inclined directions is back to the first side wall；First inclined direction and the second inclined direction are identical or not identical；
S14 repeats S13 until completing the repeating motion of inner cavity all or in part.
In above two embodiment, when patient lies low when examination couch, opposite two sidewalls may respectively be antetheca and
Rear wall, capsule endoscope are moved to the second sidewall opposite with the first side wall from the first side wall of human intracavity along the vertical direction；When
When patient-side lies at examination couch, opposite two sidewalls may respectively be left wall and right wall, and capsule endoscope is from the first side of human intracavity
Wall is moved to the second sidewall opposite with the first side wall in the horizontal direction.
The invention also discloses a kind of capsule endoscope systems, the capsule including examination couch, doctor's operation bench and interior magnet
Scope, examination couch is for, with the patient of the capsule endoscope, further including controlling capsule endoscope to be moved and turned in supporting body
The control terminal of dynamic movement mechanism, movement mechanism is connect with the output end of doctor's operation bench, and doctor's operation bench is according to any of the above-described
4 scope cruise control method of capsule control 4 scope of capsule cruises detection in human intracavity.Specifically, movement mechanism may include
It is located at the first movement mechanism and the second movement mechanism of the following above and of examination couch, the controllable setting of the first movement mechanism
The first magnet thereon moves freely in three dimensions and rotation and rolling, and the second movement mechanism is controllable to be arranged on
Second magnet moves freely at least two dimensions, and the first magnet and second magnet cooperate, jointly into capsule 4
Mirror applies magnetic force, and control 4 scope of capsule is moved and rotated.
In a kind of application scenarios of the invention, examination couch is placed horizontally at ground, as shown in Figure 1, patient lies low in inspection
It looks into bed and carries out stomach wall inspection, two lateral walls are the antetheca and rear wall of stomach in stomach.
After capsule 4 is moved to target starting position by doctor's operation bench control movement mechanism, capsule 4 is controlled close to patient's stomach
Antetheca and rear wall switch up and down, and switching mode is after capsule 4 drops to paries posterior gastricus by gravity, then by external magnetic force oblique pull to preceding
Wall completes rotation image scanning of the different angle to stomach wall in each stomach wall landing point, as shown in Figure 3.In the cruise track,
The movement of capsule 4 include by external magnets drive up and down and translation, drive capsule 4 patient's stomach antetheca and after
It is toggled between wall, and from stomach bottom 1 to 3 direction of antrum or from translational motion from antrum 3 to stomach bottom 1.Using this
Method can effectively prevent stomach wall mucous membrane tissue barrier to move bring to capsule 4 invalid.Specifically, in the application scenarios
Middle capsule 4 includes pitching, rotation in antetheca and rear wall motion switch.
In another application scenarios of the invention, patient lies low in examination couch, as shown in Fig. 2, difference be to
When upper switching, drawn high using straight line rather than oblique pull, still, in front and back, inner wall needs to control capsule 4 and translation motion or turn over
It rolls and makees to realize that position is mobile, it is preferred that realize that position is mobile by the way of the rolling of capsule 4, because rolling is relative to flat
For shifting, it can more become across stomach wall pleat or raised venereal disease.
Specifically, will the rolling of capsule 4 it is mobile or after being moved to target starting position, control capsule 4 close to paries anterior gastricus and
Rear wall switches up and down, completes rotation image scanning of the different angle to stomach wall in each stomach wall landing point, as shown in Figure 3.Capsule 4
Movement drives capsule 4 to switch between front and rear wall mainly by external magnets up and down and translation, and from stomach bottom 1 to stomach
The flip-flop movement in 3 direction of sinus.In the application scenarios capsule 4 antetheca and rear wall motion switch include movement, pitching, rotation,
Rolling.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of capsule endoscope cruise control method characterized by comprising
S1, controller control capsule endoscope great-jump-forward in all or part of operational process in human intracavity all or in part
It advances；
S2, in traveling process or hop interval, the camera lens of capsule endoscope carries out image scanning to internal chamber wall.
2. capsule endoscope cruise control method as described in claim 1, which is characterized in that controller controls capsule and moves back and forth
In in the two lateral walls of the human intracavity.
3. capsule endoscope cruise control method as claimed in claim 2, which is characterized in that in the interval of reciprocating motion, glue
Capsule carries out lateral, inclination or rotary motion on the internal chamber wall of landing and scans cavity wall image.
4. the capsule endoscope cruise control method as described in one of claim 1-3, which is characterized in that further include:
S3, controller carries out the position identification in human intracavity based on scan image, and adjusts capsule endoscope according to recognition result
Jumping concentration at the position.
5. capsule endoscope cruise control method as claimed in claim 4, which is characterized in that the S3 further includes combining patient's phase
For examination couch head position correction position recognition result the step of.
6. capsule endoscope cruise control method as described in claim 1, which is characterized in that before the S1 further include by glue
Intracapsular mirror is moved to the step of target starting position.
7. capsule endoscope cruise control method as described in claim 1, which is characterized in that the side of image scanning in the S2
Method are as follows: capsule is tilted into different angle on the internal chamber wall of landing and is rotated using the normal of the internal chamber wall of landing as rotary shaft
Scanning.
8. capsule endoscope cruise control method as described in claim 1, which is characterized in that the S1 includes:
S11, control capsule endoscope from the first side wall of human intracavity in the horizontal direction or vertical direction or the first inclined direction move
It moves to the second sidewall opposite with the first side wall, then controls capsule endoscope and moved from second sidewall along the second inclined direction and returned
It is back to the first side wall；First inclined direction and the second inclined direction are identical；
S12 repeats S11 until completing inner cavity all or in part until advancing.
9. capsule endoscope cruise control method as described in claim 1, which is characterized in that the S1 includes:
S13, control capsule endoscope human intracavity the first side wall along the human intracavity import to export direction or negative side
After to translation or rolling in the horizontal direction or vertical direction or the first inclined direction are moved to opposite with the first side wall
Two side walls, then control capsule endoscope after second sidewall is translated or rolled in same direction in the horizontal direction or vertical direction or
The movement of two inclined directions is back to the first side wall；First inclined direction and the second inclined direction are identical；
S14 repeats S13 until advancing and completes inner cavity all or in part.
10. a kind of capsule endoscope system, the capsule endoscope including examination couch, doctor's operation bench and interior magnet, the examination couch
It further include the movement for controlling the capsule endoscope and being moved and being rotated for having the patient of the capsule endoscope in supporting body
The control terminal of mechanism, movement mechanism is connect with the output end of doctor's operation bench, which is characterized in that doctor's operation bench is wanted according to right
The control capsule endoscope of capsule endoscope cruise control method described in one of 1-9 is asked to cruise in human intracavity detection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140339.4A CN109645938A (en) | 2019-02-26 | 2019-02-26 | A kind of capsule endoscope cruise control method and capsule endoscope system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140339.4A CN109645938A (en) | 2019-02-26 | 2019-02-26 | A kind of capsule endoscope cruise control method and capsule endoscope system |
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| CN109645938A true CN109645938A (en) | 2019-04-19 |
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