CN114916897A - Magnet motion control device and control method thereof - Google Patents

Abstract

The invention relates to the technical field of medical equipment, and provides a magnet movement control device and a control method thereof, wherein the magnet movement control device comprises a gear transmission device, a base, a lower seat and a magnet piece, wherein the gear transmission device comprises a plurality of gear sets which are in gear transmission and have increased transmission ratio; the base comprises a rack, a first rotation drive device, a rotation transmission device and a rotating part, the rotating part is rotatably arranged on the rack, the lower base comprises a rotating frame, a second rotation drive device, a turnover transmission device and a turnover shaft, the rotating frame is fixedly connected with the rotating part, and the turnover shaft of the magnetic part rotates coaxially; the lower seat is driven by the rotating piece to realize integral rotation, and the magnet piece is driven by the turnover shaft to realize rotation in the direction vertical to the lower seat. Through direction of rotation mutually perpendicular's base and lower seat, realize the horizontal rotation and the vertical upset motion of magnet spare, this device only uses two rotary device, and simple structure is inseparable for the space occupies for the time of this device accomplishes control operation, and easy operation is convenient.

Description

Magnet motion control device and control method thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to a magnet movement control device and a control method thereof.

Background

The gastroscopy on the market at present mainly uses the traditional electronic gastroscopy to carry out examination, but the traditional electronic gastroscopy easily causes the problems of mechanical damage and cross infection and the like, and is always suffered from diseases, along with the development of gastrointestinal diagnosis and treatment technology, the diagnosis on the stomach, the large intestine, the small intestine and the like can be realized through the capsule endoscope, the capsule endoscope is sent into the human body through the swallowing of a patient, the capsule endoscope is generally provided with a camera device and a magnet controlled by an external magnetic control device, so that the capsule endoscope is controlled through the magnetic control device, the endoscope is not required to be controlled through a connecting mechanism, the discomfort of the patient can be effectively avoided, and the mechanical damage or the cross infection can not be caused.

However, after the magnet member in the magnetic control device is matched with the capsule, the magnetic control device needs to realize accurate angular rotation on the magnet member so as to control the movement of the capsule in the human body, and the rotating mechanism adopted by the existing magnetic control mechanism has a five-figure eight door structure, so that the structure is complex, the size is large, and the cost is high; and some magnetic control devices are too simple or unreasonable in design, so that the control precision of the magnetic control device is low, the capsule control effect is poor, the diagnosis is time-consuming and labor-consuming, and errors are easy to occur.

Disclosure of Invention

In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a magnet motion control apparatus and a control method thereof, so as to solve the technical problems of high cost, complex and large structure and low control precision of the existing magnetic control mechanism caused by the unreasonable design of the magnetic control apparatus in the prior art.

One of the purposes of the invention is realized by adopting the following technical scheme: a magnet motion control device comprises

A gear transmission device comprising a plurality of gear sets which are in gear transmission and have increased transmission ratio;

the base comprises a rack, a first rotary drive and a rotary piece, the rotary piece is rotatably arranged on the rack, and the first rotary drive is arranged on one side of the rack and is in rotary transmission with the rotary piece through a gear transmission device;

the lower seat comprises a rotating frame, a second rotation drive and a turnover shaft, the rotating frame is fixedly connected with the rotating piece, the turnover shaft is rotatably arranged on the rotating frame, the second rotation drive is in rotation transmission with the turnover shaft through a gear transmission device, and the rotation direction of the turnover shaft is perpendicular to that of the rotating piece;

the magnet piece is fixedly arranged on the overturning shaft and rotates coaxially with the overturning shaft;

the lower seat is driven by the rotating piece to realize integral rotation, and the magnet piece is driven by the turnover shaft to realize rotation in the direction vertical to the lower seat.

Further, the base is arranged above the lower seat, the rotating piece is vertically and rotatably arranged, and the turnover shaft is transversely and rotatably arranged.

Further, the gear transmission comprises a rotation transmission and a turnover transmission.

Further, the rack comprises a suspension and a driving fixing plate, an installation space for installing a rotating part is formed in the middle of the suspension, the rotating part is rotatably arranged in the installation space, the driving fixing plate is horizontally and fixedly arranged on one side of the installation space, and the first rotating driving is fixedly arranged on the driving fixing plate.

Furthermore, the rotary transmission device comprises a first rotary gear set and a second rotary gear set, the first rotary driving device is in transmission fit with the first rotary gear set, the second rotary gear set is fixedly connected with the rotating piece in a coaxial mode, the second rotary gear set is in transmission fit with the first rotary gear set, and the transmission ratio is increased.

Further, the swivel mount includes the diaphragm, establishes the starting stave and the second riser at diaphragm both ends, the trip shaft level is rotated and is established between starting stave and second riser, the second rotates the drive and fixes and establish on the diaphragm, and the trip shaft rotates the drive with the second and passes through upset transmission rotary transmission cooperation.

Further, still include encoder and zero point inductor, all be equipped with the encoder on first rotation driving device and the second rotation driving device, zero point inductor is established to two, respectively with rotating member and trip shaft induction fit.

Further, the first rotary drive and the second rotary drive both adopt low-voltage servo motors.

The invention also provides a control method, which adopts the magnet motion control device.

Further, the control method includes:

s1, after swallowing the capsule endoscope, the patient lies on an examination bed;

s2, the magnet movement control device is close to the upper part of the stomach of the patient, the magnet movement control device is moved continuously, and the capsule endoscope is confirmed to be attracted by the magnet piece;

s3, operating the first rotation driving device to make the lower seat rotate along with the rotation of the first rotation driving device, and simultaneously the capsule endoscope rotates in the stomach under the attraction and control of the magnet piece;

s4, operating the second rotation drive to make the magnet rotate by taking the turnover shaft as the axis, and simultaneously turning the capsule endoscope in the stomach under the attraction and control of the magnet;

s5: the mechanical arm changes the position of the magnet motion control device according to the preset instruction of the controller, controls the operation of the first rotary drive and the second rotary drive, and attracts and controls the capsule endoscope to move to a specified position for examination.

Compared with the prior art, the invention has the beneficial effects that:

1. the horizontal movement and the turnover motion of magnet spare are realized to rotation direction mutually perpendicular's base and lower seat, and this device only uses two rotary device, and simple structure is inseparable for the space occupies for a short time when this device accomplishes control operation, and easy operation is convenient.

2. The rotary transmission between the first rotary drive and the rotary piece and the transmission between the second rotary drive and the turnover shaft are realized through the rotary transmission device and the turnover transmission device. The rotary transmission device and the turnover transmission device both use gear transmission, the device is stably and accurately operated by controlling the transmission ratio between the gears, and because the transmission ratio of the transmission device is increased, the driving device with smaller specification and size can be used, and the occupied space of the device can be further reduced.

3. The first rotary drive and the second rotary drive both use low-voltage servo motors, so that the magnetic field control device is safer and more reliable, is less interfered by a magnetic field, and has low running noise.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the base of the present invention;

FIG. 3 is a schematic view of a rotating shaft according to the present invention;

FIG. 4 is a schematic view of the position of the rotary drive of the present invention;

FIG. 5 is a schematic view of the overall structure of the lower base of the present invention;

fig. 6 is a schematic view of the position of the turnover actuator of the present invention.

In the figure:

1. a base; 11. a frame; 111. a suspension; 1111. an upper tripod; 1112. a lower tripod; 1113. a support bar; 112. a drive fixing plate; 12. a first rotational drive; 13. a rotating member; 131. a rotating shaft; 132. an electrical slip ring; 133. a connecting seat; 1331. bolt holes;

2. a lower seat; 21. a rotating frame; 211. a transverse plate; 212. a first vertical plate; 213. a second vertical plate; 22. a second rotational drive; 23. a turning shaft;

3. a magnet member;

4. a gear transmission device; 41. a rotation transmission device; 411. a first rotating gear set; 4111. an upper gear; 4112. a lower gear; 4113. a first transmission shaft; 412. rotating a gear set II; 42. a turnover transmission device; 421. a reversing transmission device; 4211. a helical gear; 4212. a horizontal axis; 422. a turnover transmission gear set; 4221. a first vertical gear; 4222. a second vertical gear; 4223. a third vertical gear; 4224. a gear shaft;

5. an encoder;

6. a zero sensor;

7. a controller;

8. and (4) bolts.

Detailed Description

The present invention will be further described with reference to fig. 1 to 5 and the detailed description thereof, and it should be noted that, in the case of conflict, any combination of the embodiments or technical features described below may form a new embodiment.

The embodiment of the invention provides a magnet movement control device, as shown in fig. 1, comprising a base 1, a lower base 2, a magnet member 3 and a gear transmission device 4, wherein the gear transmission device 4 comprises a rotation transmission device 41 and a turnover transmission device 42, the rotation transmission device 41 is arranged on the base 1, the turnover transmission device 42 is arranged on the lower base 2, as shown in fig. 2 and fig. 3, the base 1 comprises a frame 11, a first rotation drive 12 and a rotation member 13, the frame 11 comprises a suspension 111 and a drive fixing plate 112, the suspension 111 is used for connecting devices such as a manipulator and performing integral movement under the drive change of the manipulator, in the embodiment, the suspension 111 is a triangular hollow support frame comprising an upper triangular support 1111, a lower triangular support 1112 and three support rods 1113 arranged between the upper triangular support 1111 and the lower triangular support 1112 for supporting and connecting, the three support rods 1113 are vertically arranged, the corresponding corners of the upper tripod 1111 and the lower tripod 1112 are respectively connected, the middle part of the suspension 111 is provided with an installation space for installing the rotating part 13, namely, the three support rods 1113 are designed to be hollow, the triangular design can ensure the stability of the suspension 111 and reduce the support materials required by the suspension 111 as much as possible, thereby reducing the weight of the base 1; the driving fixing plate 112 is a horizontal flat plate and is fixed on the outer side of the middle part of one of the supporting rods 1113, the first rotary drive 12 is arranged on the driving fixing cover plate and is in rotary transmission with the rotary piece 13 through the rotary transmission device 41, the first rotary drive 12 is a rotary motor, preferably a low-voltage servo motor, in the embodiment, the motor shaft of the first rotary drive 12 extends into the lower part of the driving fixing plate 112 from the upper part of the driving fixing plate 112, the rotary transmission device 41 is arranged below the driving fixing plate 112, the rotary transmission device 41 is in rotary connection with the rotary piece 13, the first driving device and the gear transmission device 4 are compact in structure, and the whole occupied space of the base 1 is reduced;

the rotating part 13 is rotatably arranged in the installation space, specifically, the rotating part 13 comprises a rotating shaft 131, an electric slip ring 132 and a connecting seat 133, the rotating shaft 131 is a cylindrical shaft with a thicker diameter and is rotatably arranged in the middle of the lower tripod 1112 through a bearing, the electric slip ring 132 is arranged at the upper end of the rotating shaft 131, the electric slip ring 132 ensures that a cable cannot be wound or even twisted off when the shaft rotates, and the electric slip ring 132 is a mature design in the prior art, so detailed description is omitted; the lower end of the rotating shaft 131 extends out of the lower triangular support 1112, the lower end of the rotating shaft 131 is fixedly provided with a connecting seat 133 for connecting the lower seat 2, the connecting seat 133 is provided with a plurality of bolt holes 1331, the lower seat 2 is fixedly connected with the connecting seat 133 through bolts 8, and the rotating shaft 131 is driven by the first rotating driver 12 to rotate through the gear transmission device 4, so that the integral rotation of the lower seat 2 is controlled;

as shown in fig. 4, the lower seat 2 includes a rotating frame 21, a second rotation driver 22 and a turning shaft 23, in this embodiment, the rotating frame 21 includes a horizontal plate 211, a first vertical plate 212 and a second vertical plate 213 disposed at two ends of the horizontal plate 211, the horizontal plate 211 is a rectangular plate, both vertical plates are inverted triangle-shaped and have arc-shaped ends, the rotating frame 21 is door-shaped as a whole, a bolt 8 fixedly connected to the connecting seat 133 is disposed in the middle of the horizontal plate 211, when the rotating member 13 rotates, the horizontal plate 211 also rotates, the turning shaft 23 rotates and is disposed between the first vertical plate 212 and the second vertical plate 213, the rotation direction of the turning shaft 23 and the rotation direction of the rotating member 13 are perpendicular to each other, the magnet member 3 is connected to the turning shaft 23 in a rotation driving manner, the end of the turning shaft 23 is disposed at the arc-shaped ends of the first vertical plate 212 and the second vertical plate 213 through a shaft sleeve or a bearing, in this embodiment, the magnet member 3 is also disposed between the two vertical plates, the turning shaft 23 penetrates through the magnet member 3, when the turning shaft 23 rotates, the magnet member 3 turns around the turning shaft 23 as an axis, the magnet member 3 is a permanent magnet, and details are not described for the prior art, the second rotation driver 22 adopts a low-voltage servo motor and is fixedly arranged on the transverse plate 211, and the turning shaft 23 and the second rotation driver 22 are in rotation transmission fit through the turning transmission device 42. Through direction of rotation mutually perpendicular's base 1 and lower 2, realize the horizontal rotation and the upset motion of magnet piece 3, this device only uses two rotary device, and simple structure is inseparable for the space occupies for a short time when this device accomplishes control operation, and easy operation is convenient.

In some embodiments, the lower seat 2 is driven by the rotating member 13 to rotate integrally, and the magnet member 3 is driven by the overturning shaft 23 to rotate in a direction perpendicular to the lower seat 2, in this embodiment, the base 1 is disposed above the lower seat 2, the rotating member 13 is vertically and rotatably disposed, the overturning shaft 23 is laterally and rotatably disposed, and in other embodiments, the base 1 is disposed on one side of the lower seat 2 or below the lower seat 2, and does not affect the movement of the magnet member 3.

As a specific description of the rotation transmission device 41, in some embodiments, as shown in fig. 2, fig. 3 and fig. 4, the rotation transmission device 41 includes a first rotation gear set 411 and a second rotation gear set 412, the first rotation drive 12 is disposed on one side of the rotation member 13, the first rotation drive 12 is in gear transmission fit with the first rotation gear set 411, the second rotation gear set 412 is coaxially and fixedly disposed with the rotation member 13, that is, the second rotation gear set 412 rotates coaxially with the rotation member 13, and the second rotation gear set 412 is in gear transmission fit with the first rotation gear set 411. The shaft of the first rotary drive 12 outputs a torque of

At shaft speed of

In some embodiments, the first rotating gear set 411 includes an upper gear 4111, a lower gear 4112, and a first transmission shaft 4113, the first transmission shaft 4113 is vertically and rotatably disposed between the driving fixing plate 112 and the lower triangular frame 1112, a protrusion is disposed on one side of the lower triangular frame 1112 for placing a bearing for rotating the first transmission shaft 4113, the upper gear 4111 and the lower gear 4112 are fixed on the first transmission shaft 4113 for coaxial rotation, the upper gear 4111 is engaged with a gear of the first rotating drive 12, and the first rotating gear set 411 and the motor shaft gear have a reduction ratio of the first rotating gear set to the motor shaft gear

The lower gear 4112 is engaged with the second rotating gear set 412, and the reduction ratio between the second rotating gear set 412 and the lower gear 4112 is set to be

At this time, the output torque of the rotary 13

：

Where η 1 is the transmission efficiency of the rotary drive 41, V ₁₁ For the rotation speed of the rotary member 13, it can be seen from the above formula that the load torque becomes larger, the speed becomes smaller, and the system operation becomes smoother.

As a specific description of the flipping-over transmission device 42, in some embodiments, as shown in fig. 5 and fig. 6, the flipping-over transmission device 42 includes a reversing transmission device 421 and a flipping-over transmission gear set 422, the reversing transmission device may be driven by a worm gear transmission or two bevel gears 4211, in this embodiment, the reversing transmission device 421 includes two bevel gears 4211 and a horizontal shaft 4212, one bevel gear 4211 is provided on a motor shaft of the second rotation drive for horizontal rotation, the other bevel gear 4211 is provided on the horizontal shaft 4212, the horizontal shaft 4212 is rotatably provided on the first vertical plate 212, an inner end of the horizontal shaft 4212 is provided with a bevel gear 4211, the transmission from the horizontal rotation to the vertical rotation is realized by the gear transmission between the two bevel gears 4211, the flipping-over transmission gear set 422 includes a first vertical gear 4221, a second vertical gear 4222, a third vertical gear 4223 and a gear shaft 4224, a first vertical gear 4221 is arranged at the outer end of the horizontal shaft 4212, a gear shaft 4224 is arranged below the horizontal shaft 4212, the gear shaft 4224 is rotatably arranged on the first vertical plate 212, a second vertical gear 4222 is arranged at the outer end of the gear shaft 4224, the second vertical gear 4222 is in gear transmission fit with the first vertical gear 4221, the second vertical gear 4222 rotates to drive the gear shaft 4224 to rotate, a gear matched with a third vertical gear 4223 is arranged at the inner end of the gear shaft 4224, and the third vertical gear 4223 is arranged on the turning shaft 23 and rotates coaxially with the turning shaft 23; the reversing gear set 422 is in transmission arrangement with the second rotary drive 22 via a reversing gear 421. Specifically, the output shaft of the second rotary drive 22 has a shaft output torque of

At a shaft rotational speed of

;

Second rotary drive 22 drives a reversing gearThe moving means 421 rotates, and the reversing transmission means 421 has a reduction ratio of

(ii) a The reversing transmission device 421 is in transmission fit with the turning transmission gear set 422 to drive the turning transmission gear set 422 to rotate, and the reduction ratio of the turning transmission gear set 422 is

At this time:

wherein

For the maximum torque to be obtained by the turning shaft 23,

are all larger than 1, and are all larger than 1,

in order to the turning speed of the magnet member 3,

the transmission efficiency of the entire tumble transmission 42.

As can be seen from the above formula, the load torque becomes larger, the speed becomes smaller, and the system operation is more stable.

In some embodiments, as shown in fig. 1 and 6, the apparatus further includes an encoder 5 and two zero point sensors 6, the first rotation driver 12 and the second rotation driver 22 are both provided with the encoder 5, the two zero point sensors 6 are respectively in induction fit with the rotation member 13 and the turning shaft 23, the encoder 5 is used for checking the rotated angle of the first rotation driver 12 and the second rotation driver 22 in real time, the zero point sensors 6 are used for origin confirmation and correction of the rotation member 13 and the turning shaft 23, so as to avoid accumulated errors generated during the movement, and the zero point sensors 6 are prior art and therefore will not be described in detail.

The invention also provides a control method, which adopts the magnet movement control device.

Specifically, the control method includes the steps of:

s1: after swallowing the capsule endoscope, a patient lies on the examining table, the force borne by the capsule endoscope at this time is gravity Fg, the buoyancy Fb of the gastric juice to the capsule endoscope is larger than the buoyancy in the current state, so that the capsule endoscope sinks to the bottom of the stomach, if the capsule endoscope is required to reach a suspension state or move, a new magnetic field acting force is required to be added to the capsule endoscope, namely the force FPID provided by the device, and the capsule endoscope can be ensured to move when the force is larger than the difference between the gravity and the buoyancy;

s2: the capsule endoscope transmits the shot picture to the controller 7, the magnet moves the control device to be close to the upper part of the stomach of the patient, the position of the magnetic control device is continuously changed until the picture shot by the capsule endoscope is changed, namely the position of the capsule endoscope is changed, the capsule endoscope is confirmed to be attracted by the magnet piece 3, and specifically, the position of the magnet piece 3 is recorded when the position of the capsule endoscope is changed.

S3: if the capsule endoscope is moved, the magnetic field applied to the capsule endoscope currently needs to be changed, and two methods are used for changing the magnetic field intensity, one is to change the intensity of the magnetic field, because the magnet member 3 in the embodiment is a permanent magnet, the other is not considered, the position or the direction of the magnet member 3, namely the magnetic field is changed, after the FPID- (Fg-Fb) is ensured to be larger than zero, when the position of the magnet member 3 is changed, the capsule endoscope correspondingly moves, and when the capsule endoscope needs to be rotated in the horizontal direction, the first rotating drive 12 is operated, so that the lower seat 2 rotates along with the rotation of the first rotating drive 12, and meanwhile, the capsule endoscope also rotates in the stomach under the attraction and the control of the magnet member 3;

s4: when the capsule endoscope needs to be turned over, the second rotary drive 22 is operated, so that the magnet piece 3 rotates by taking the turning shaft 23 as the axis, and the capsule endoscope is turned over in the stomach under the attraction and control of the magnet piece 3;

s5: the mechanical arm changes the position of the magnet movement control device according to a preset instruction of the controller 7, controls the first rotary drive 12 and the second rotary drive 22 to operate, attracts and controls the capsule endoscope to move to a specified position by the magnet piece 3 for examination, and specifically obtains a corresponding magnetic field required to be changed according to the acting force required by the capsule endoscope to move to a target position; under the condition of ensuring that the magnetic field intensity of the magnet piece 3 is not changed, the position of the magnet piece 3 is changed continuously, and the capsule endoscope is moved to a preset target position through the magnetic force.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (10)

1. A magnet motion control device is characterized by comprising

A gear assembly including a plurality of gear sets that are geared and have an increased gear ratio;

the base comprises a rack, a first rotary drive and a rotary piece, wherein the rotary piece is rotatably arranged on the rack, and the first rotary drive is arranged on one side of the rack and is in rotary transmission with the rotary piece through a gear transmission device;

the lower seat comprises a rotating frame, a second rotation drive and a turnover shaft, the rotating frame is fixedly connected with the rotating piece, the turnover shaft is rotatably arranged on the rotating frame, the second rotation drive is in rotation transmission with the turnover shaft through a gear transmission device, and the rotation direction of the turnover shaft is perpendicular to that of the rotating piece;

the magnet piece is fixedly arranged on the overturning shaft and rotates coaxially with the overturning shaft;

the lower seat is driven by the rotating piece to realize integral rotation, and the magnet piece is driven by the turnover shaft to realize rotation in the direction vertical to the lower seat.

2. A magnet motion control apparatus as claimed in claim 1, wherein the base is disposed above the lower base, the rotary member is vertically rotatably disposed, and the flip shaft is transversely rotatably disposed.

3. A magnet motion control apparatus according to claim 2, wherein the gear drive comprises a rotary drive and a tumble drive.

4. A magnet movement control device in accordance with claim 3, wherein said frame comprises a suspension and a driving fixing plate, said suspension has a mounting space in the middle for mounting a rotary member, said rotary member is rotatably disposed in said mounting space, said driving fixing plate is horizontally fixed on one side of said mounting space, and said first rotary driving is fixedly disposed on said driving fixing plate.

5. The magnet motion control device of claim 4, wherein the rotation transmission device comprises a first rotation gear set and a second rotation gear set, the first rotation driving device is in transmission fit with the first rotation gear set, the second rotation gear set is coaxially and fixedly connected with the rotating member, and the second rotation gear set is in transmission fit with the first rotation gear set and has an increased transmission ratio.

6. The magnet motion control device of claim 2, wherein the rotating frame comprises a transverse plate, a first vertical plate and a second vertical plate which are arranged at two ends of the transverse plate, the overturning shaft is horizontally rotated and arranged between the first vertical plate and the second vertical plate, the second rotating drive is fixedly arranged on the transverse plate, and the overturning shaft and the second rotating drive are in rotating transmission fit through the overturning transmission device.

7. The magnet motion control apparatus of claim 1, further comprising an encoder and two zero point sensors, wherein the first and second rotary driving devices are each provided with an encoder, and the two zero point sensors are respectively in induction fit with the rotary member and the flip shaft.

8. A magnet motion control apparatus according to claim 1, wherein the first and second rotary drives each employ low voltage servo motors.

9. A control method using the magnet motion control apparatus according to any one of claims 1 to 8.

10. The control method according to claim 9, characterized in that the step of the control method includes:

s1, after swallowing the capsule endoscope, the patient lies on an examination bed;

s2, the magnet motion control device is close to the upper part of the stomach of the patient, the magnet motion control device is moved continuously, and the capsule endoscope is confirmed to be attracted by the magnet piece;

s3, operating the first rotation driving device to make the lower base rotate along with the rotation of the first rotation driving device, and simultaneously the capsule endoscope rotates in the stomach under the attraction and control of the magnet;

s4, operating the second rotation drive to make the magnet rotate by taking the turnover shaft as the axis, and simultaneously turning the capsule endoscope in the stomach under the attraction and control of the magnet;

s5: the mechanical arm changes the position of the magnet motion control device according to the preset instruction of the controller, controls the operation of the first rotary drive and the second rotary drive, and attracts and controls the capsule endoscope to move to a specified position for examination.

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