CN115462740A - Control method for capsule endoscope, electronic device, storage medium, and program product - Google Patents

Abstract

The invention provides a control method of a capsule endoscope, electronic equipment, a storage medium and a program product, wherein if medical staff needs to control the capsule endoscope to move in the intestinal tract of a patient, the medical staff can control the capsule endoscope to move in the intestinal tract of the patient without holding a magnet, a display terminal can be directly operated, and the display terminal can automatically control the capsule endoscope to move in the intestinal tract of the patient by controlling an external permanent magnet only by inputting simple operation into the display terminal, so that the burden of the medical staff is reduced, the working difficulty of the medical staff is reduced, and the fatigue of the medical staff can be avoided quickly.

Description

Capsule endoscope control method, electronic device, storage medium and program product

technical field

The invention relates to the field of medical technology, in particular to a control method of a capsule endoscope, an electronic device, a storage medium and a program product.

Background technique

In clinical examination, interventional therapy has become the current mainstream trend. The traditional digestive tract examination method uses a flexible endoscope to be inserted into the patient's rectum for examination, but this examination method is likely to cause damage to the patient's intestinal tract, aggravate the patient's pain, and cannot inspect the small intestine.

In order to overcome the above difficulties, in recent years, capsule endoscopy has become an important means of intestinal inspection.

Currently commonly used capsule endoscopes include active capsule endoscopes. Active capsule endoscopes contain permanent magnets inside, which can establish a magnetic connection with an external magnetic field (such as a magnet held by a doctor), and drive the active capsule endoscope by changing the external magnetic field. Capsule endoscope (for example, driving its position and orientation, etc.), this way can check the lesion in the patient's intestinal tract.

However, the hand-held magnet itself has weight, and it is often longer for the doctor to continuously hold the magnet to control the capsule endoscope to examine the patient, which can easily and quickly lead to doctor fatigue, and in the case of doctor fatigue, due to human physiological The characteristics will lead to the inability to precisely control the capsule endoscope, and it is also impossible to complete the precise inspection of the lesion in the patient's intestinal tract.

Contents of the invention

In order to solve the above technical problems, the present invention provides a capsule endoscope control method, electronic equipment, storage media and program products.

In the first aspect, the present invention provides a control method of a capsule endoscope, which is applied to a capsule endoscope control system, and the system includes: a capsule endoscope with a permanent magnet inside, an external permanent magnet, a mechanical arm, and a display terminal And the intestinal contrast instrument; the end of the mechanical arm is connected to the external permanent magnet; the display terminal is connected to the mechanical arm, the capsule endoscope, and the intestinal contrast instrument respectively;

The methods include:

The capsule endoscope located at the first position inside the patient's intestinal tract collects image information inside the patient's intestinal tract, and transmits the image information to the display terminal;

The display terminal receives the image information and displays the image information;

The enterograph scans the first three-dimensional data of the patient's intestinal tract, and transmits the first three-dimensional data to the display terminal;

The display terminal receives the first three-dimensional data, constructs a three-dimensional model of the patient's intestinal tract according to the first three-dimensional data, and displays the three-dimensional model, wherein the three-dimensional model has a capsule endoscope at a first position inside the patient's intestinal tract;

The display terminal obtains a position movement request input by the medical staff, and the position movement request is used to move the position of the capsule endoscope located in the patient's intestinal tract from the first position to the second position in the patient's intestinal tract;

The display terminal calculates that to move the position of the capsule endoscope inside the patient's intestinal tract from the first position to the second position, it is necessary to control the first movement path of the external permanent magnet;

The display terminal calculates that in order to control the external permanent magnet to move the first movement path, it is necessary to control the second movement path of the mechanical arm with the external permanent magnet installed at the end;

The display terminal controls the mechanical arm to move according to the second movement path.

In an optional implementation manner, the display terminal obtains the location movement request input by the medical staff, including:

The display terminal receives a position selected by the medical personnel in the three-dimensional model displayed on the screen of the display terminal as the second position;

When the display terminal receives a trigger operation of the movement button displayed on the screen of the display terminal by the medical staff, the location movement request is generated according to the first location and the second location.

In an optional implementation, the method also includes:

The display terminal acquires an orientation change request input by the medical staff, and the orientation change request is used to request to change the orientation of the capsule endoscope located inside the patient's intestinal tract from a first orientation to a second orientation;

The display terminal calculates that to change the orientation of the capsule endoscope located inside the patient's intestinal tract from the first orientation to the second orientation, it is necessary to control the first change direction and the first change angle of the orientation of the external permanent magnet;

The display terminal calculates that in order to control the orientation of the external permanent magnet to change in the first change direction and the first change angle, it is necessary to control the second change direction and the second change angle of the posture of the mechanical arm with the external permanent magnet installed at the end;

The display terminal controls the mechanical arm to change the posture of the mechanical arm according to the second changing direction and the second changing angle.

In an optional implementation manner, the display terminal obtains the orientation change request input by the medical staff, including:

The display terminal receives a sliding operation from the medical staff to change the orientation of the capsule endoscope in the three-dimensional model displayed on the screen of the display terminal from the first orientation;

determining a second orientation according to the sliding operation;

When the display terminal receives a trigger operation of an orientation change button displayed on the screen of the display terminal by the medical staff, the orientation change request is generated according to the first orientation and the second orientation.

In an optional implementation manner, after the display terminal controls the mechanical arm to move according to the second movement path, it further includes:

The enterograph scans the second three-dimensional data of the patient's intestinal tract, and transmits the second three-dimensional data to the display terminal;

The display terminal receives the second three-dimensional data, and identifies whether the capsule endoscope is located at a second position inside the patient's intestinal tract according to the second three-dimensional data;

When the capsule endoscope is not located at the second position inside the intestinal tract of the patient, the display terminal outputs an alarm prompt;

or,

In case the capsule endoscope is located at the second position inside the intestinal tract of the patient, a terminal output success prompt is displayed.

In an optional implementation, the method also includes:

When the capsule endoscope is located at the second position inside the intestinal tract of the patient, the display terminal updates the position of the capsule endoscope in the displayed three-dimensional model.

In an optional implementation, the method also includes:

When the length of the first moving path is greater than a preset length, splitting the first moving path into a plurality of consecutive first sub-paths;

Correspondingly, the display terminal calculates that in order to control the external permanent magnet to move the first movement path, it is necessary to control the second movement path of the mechanical arm with the external permanent magnet installed at the end, including:

For any section of the first sub-path, the display terminal calculates that to control the movement of the external permanent magnet to move the first sub-path, it is necessary to control the movement of the mechanical arm with the external permanent magnet at the end of the second sub-path;

And, the display terminal controls the mechanical arm to move according to the second movement path, including:

For any second sub-path, the display terminal controls the mechanical arm to move according to the second sub-path.

In a second aspect, the present invention provides an electronic device, the electronic device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the method described in the first aspect above method.

In a third aspect, the present invention provides a non-transitory computer-readable storage medium. When instructions in the storage medium are executed by a processor of the electronic device, the electronic device can execute the method described in the first aspect above.

In a fourth aspect, the present application shows a computer program product. When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device can execute the method described in the first aspect above.

The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

Through this application, when the medical personnel need to control the movement of the capsule endoscope in the intestinal tract of the patient, the medical personnel can control the movement of the capsule endoscope in the intestinal tract of the patient without holding a magnet, but can directly control the display terminal. For example, you can only input simple operations in the display terminal to make the display terminal automatically control the movement of the capsule endoscope in the patient's intestinal tract by controlling the external permanent magnet, which reduces the burden on the medical staff and reduces the work difficulty of the medical staff. This can avoid rapid fatigue of medical staff, and compared with the manual hand-held magnet to control the movement of the capsule endoscope in the patient's intestinal tract, the display terminal automatically controls the movement of the capsule endoscope in the patient's intestine by controlling the external permanent magnet. The control precision of the way of moving in the intestinal tract is higher, so that the precise inspection of the lesion in the patient's intestinal tract can be realized.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a structural block diagram of a control system of a capsule endoscope according to an exemplary embodiment.

Fig. 2 is a flowchart showing a method for controlling a capsule endoscope according to an exemplary embodiment.

Fig. 3 is a schematic diagram of a capsule endoscope according to an exemplary embodiment.

Fig. 4 is a block diagram of an electronic device according to an exemplary embodiment;

Fig. 5 is a block diagram of an electronic device according to an exemplary embodiment.

detailed description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

Fig. 1 is a structural block diagram of a control system of a capsule endoscope according to an exemplary embodiment, the system includes: a capsule endoscope with a permanent magnet inside, an external permanent magnet, a mechanical arm, a display terminal, and an intestinal tract Contrast apparatus.

The robotic arm includes a 7-degree-of-freedom robotic arm, etc.

External permanent magnets include cylindrical NdFeB permanent magnets and the like.

The end of the robotic arm is attached to an external permanent magnet.

The display terminal communicates with the robotic arm, the capsule endoscope, and the intestinal contrast apparatus respectively.

The capsule endoscope can be swallowed by the patient. During the process of passing through the patient's intestinal tract, the inside of the intestinal tract can be photographed to obtain images, and the images are sent to the display terminal through a wireless sending device.

The medical staff can diagnose the patient's intestinal tract according to the images displayed on the display terminal.

The capsule endoscope may include: a housing, a power supply, a camera, a microprocessor, a communication device, a small permanent magnet, and a lighting lamp.

The built-in permanent magnet in the capsule endoscope adopts axial magnetization and can be placed in the center of the shell.

In order to meet the needs of the medical environment for equipment and to maximize the use of the external magnetic field provided by the external permanent magnet, you can choose the Med 820 mechanical arm of KUKA Company. Of course, you can also choose other types of mechanical arms. This is not limited.

The patient can lie flat on the movable hospital bed and expose his abdomen to the working area of the external magnetic field. The display terminal can control the end of the mechanical arm through instructions, and the external permanent magnet is assembled at the end of the mechanical arm, so as to control the position and orientation of the permanent magnet.

Moving charges, changing electric fields or magnets will all generate a magnetic field in the surrounding space, and a steady current will generate a magnetic field that does not change with time in the surrounding space, which is called a steady magnetic field. In order to establish the magnetic field link between the external magnetic field and the permanent magnet in the capsule endoscope, a permanent magnet with high magnetic field strength and simple structure can be selected as the external permanent magnet.

In one example, considering that the magnetic field strength of a permanent magnet is proportional to its volume, according to the carrying capacity of the manipulator, and considering the extremely high magnetic energy product and coercive force of NdFeB, an axial magnet with a diameter of 100mm and a thickness of 50mm is prepared. The magnetized cylindrical NdFeB permanent magnet is used as the generator of the external magnetic field, its coercive force is 972kA/m, and the maximum magnetic energy product is 386.84kJ/m3.

Fig. 2 is a flow chart of a method for controlling a capsule endoscope according to an exemplary embodiment. The method is applied to the system shown in Fig. 1, and the method includes:

In step S101 , the capsule endoscope located at a first position inside the patient's intestinal tract collects image information inside the patient's intestinal tract, and transmits the image information to a display terminal.

Patients can swallow the capsule endoscope, and after the capsule endoscope enters the intestinal tract, the capsule endoscope can use a camera to collect image information inside the intestinal tract.

The capsule endoscope is communicatively connected to the display terminal through the communication device, so that the capsule endoscope can send the collected image information to the display terminal.

In step S102, the display terminal receives image information and displays the image information.

The display terminal has a screen, and the screen may include a touch screen, so that the display terminal can display image information on the screen.

In step S103, the enterograph scans the first three-dimensional data of the intestinal tract of the patient, and transmits the first three-dimensional data to the display terminal.

The intestinal contrast apparatus may include CT contrast apparatus, etc., and may include other types of contrast apparatus, etc. The contrast apparatus may collect the first three-dimensional data of the patient's intestinal tract, so as to subsequently construct a three-dimensional model of the patient's intestinal tract based on the first three-dimensional data .

The enterograph is connected to the display terminal through communication, so that the enterograph can send the first three-dimensional data of the patient's intestinal tract to the display terminal.

In step S104, the display terminal receives the first three-dimensional data, constructs a three-dimensional model of the patient's intestinal tract according to the first three-dimensional data, and displays the three-dimensional model, in which there is a capsule endoscope at a first position inside the patient's intestinal tract .

In this way, the medical staff can see the 3D model of the patient's intestinal tract on the screen of the display terminal, and the capsule endoscope can be seen in the 3D model, so that they can understand the structure of the patient's intestinal tract and the capsule endoscope. position in the gut, etc.

In step S105, the display terminal obtains the position movement request input by the medical personnel, and the position movement request is used to move the position of the capsule endoscope located in the patient's intestinal tract from the first position to the second position in the patient's intestinal tract .

When the medical staff needs to move the capsule endoscope located in the patient's intestinal tract to observe the status of other places in the intestinal tract, the medical staff can input a position movement request in the display terminal, and the position moves A request is made to move the position of the capsule endoscope inside the patient's bowel from a first position to a second position inside the patient's bowel. The display terminal can receive the location movement request input by the medical personnel.

In one embodiment, the medical staff selects a position in the 3D model displayed on the screen of the display terminal, and the display terminal may receive a position selected by the medical staff in the 3D model displayed on the screen of the display terminal as the second position.

Afterwards, the medical personnel input a trigger operation on the movement button displayed on the screen of the display terminal, and when the display terminal receives the medical personnel's trigger operation on the movement button displayed on the screen of the display terminal, the first position and the The second location generates a location move request.

Wherein, the first position is known by the display terminal, for example, the display terminal determines the first position of the capsule endoscope in the three-dimensional model in advance.

In step S106, the display terminal calculates that to move the position of the capsule endoscope inside the patient's intestinal tract from the first position to the second position, it is necessary to control the first movement path of the external permanent magnet. .

The permanent magnet in the capsule endoscope is mainly affected by the magnetic field of the external permanent magnet, and the display terminal controls the capsule endoscope to move along the desired path and turn in the desired direction according to the control of the medical staff. A phase difference and an angle difference are formed between the magnetic poles through displacement and rotation, and a corresponding electromagnetic force and magnetic moment are generated to drive the capsule.

For example, referring to FIG. 3 , the following theoretical principles can be used to calculate that to move the position of the capsule endoscope inside the patient's intestine from the first position to the second position, it is necessary to control the movement of the external permanent magnet the first path of movement.

The permanent magnet inside the capsule endoscope is placed in the space coordinate system for force analysis. According to the current model of constant magnetization, the electromagnetic force and torque force on the capsule endoscope are:

—表面电流密度；

—单位角向量；R—积分曲面半径；

—计算扭矩点到积分表面的位移矢量；z₁—内部永磁体的中心轴的上部分高度。z₂—内部永磁体的中心轴的下部分高度。In the formula:

— surface current density;

—unit angle vector; R—radius of integral surface;

- calculate the displacement vector from the torque point to the integral surface; z ₁ - the height of the upper part of the central axis of the inner permanent magnet. z ₂ —height of the lower part of the central axis of the inner permanent magnet.

—外部磁场。将(3)(4)带入电流模型得到：In the formula: (x _t ,y _t ,z _t )—calculate the point on the integral surface. (x ₀ ,y ₀ ,z ₀ )—the starting point for calculating the integral.

- External magnetic field. Bring (3)(4) into the current model to get:

The above derivation can calculate the electromagnetic force and torque force of the permanent magnet in the capsule endoscope under the action of the external magnetic field.

In step S107, the display terminal calculates that in order to control the movement of the first movement path of the external permanent magnet, it is necessary to control the movement of the second movement path of the mechanical arm with the external permanent magnet installed at its end.

The calculation method of "calculating to control the movement of the first movement path of the external permanent magnet and the second movement path of the mechanical arm with the external permanent magnet installed at the end" can refer to the existing methods, which is not limited in this application.

In step S108, the display terminal controls the mechanical arm to move according to the second movement path.

The display terminal can send a movement instruction to the robotic arm to move along the second moving path, and the robotic arm can control itself to move along the second moving path after receiving the moving instruction to move along the second moving path.

The mechanical arm moves according to the second movement path, which can change the position of the external permanent magnet, thereby changing the external magnetic field, thereby indirectly controlling the position of the capsule endoscope located in the patient's intestinal tract to move from the first position to the second position.

Through this application, when the medical personnel need to control the movement of the capsule endoscope in the intestinal tract of the patient, the medical personnel can control the movement of the capsule endoscope in the intestinal tract of the patient without holding a magnet, but can directly control the display terminal. For example, you can only input simple operations in the display terminal to make the display terminal automatically control the movement of the capsule endoscope in the patient's intestinal tract by controlling the external permanent magnet, which reduces the burden on the medical staff and reduces the work difficulty of the medical staff. This can avoid rapid fatigue of medical staff, and compared with the manual hand-held magnet to control the movement of the capsule endoscope in the patient's intestinal tract, the display terminal automatically controls the movement of the capsule endoscope in the patient's intestine by controlling the external permanent magnet. The control precision of the way of moving in the intestinal tract is higher, so that the precise inspection of the lesion in the patient's intestinal tract can be realized.

In addition to controlling the moving position of the capsule endoscope, the medical staff may sometimes need to control the capsule endoscope to change its orientation. For example, the medical staff can input an orientation change request in the display terminal to request that the capsule endoscope be located in the patient's intestinal tract. The orientation of the internal capsule endoscope is changed from the first orientation to the second orientation. The display terminal obtains the orientation change request input by the medical staff.

For example, in one embodiment, the display terminal receives a sliding operation input by the medical personnel to change the orientation of the capsule endoscope in the three-dimensional model displayed on the screen of the display terminal from the first orientation. The direction at the end of the sliding operation is the second orientation. In this way, the display terminal can determine the second orientation according to the sliding operation. When the display terminal receives the trigger operation of the orientation change button displayed on the screen of the display terminal by the medical staff, an orientation change request is generated according to the first orientation and the second orientation.

Wherein, the first orientation is known by the display terminal, for example, the display terminal determines the first orientation of the capsule endoscope in the three-dimensional model in advance.

The display terminal calculates that to change the orientation of the capsule endoscope located inside the patient's intestinal tract from the first orientation to the second orientation, it is necessary to control the first change direction and the first change angle of the orientation of the external permanent magnet. For a specific manner, reference may be made to step S106, which will not be described in detail here.

The display terminal calculates that in order to control the orientation of the external permanent magnet to change in the first change direction and the first change angle, it is necessary to control the second change direction and the second change angle of the attitude of the mechanical arm with the external permanent magnet installed at the end. For details, reference may be made to currently existing methods, which are not limited in the present application.

The display terminal controls the mechanical arm to change the posture of the mechanical arm according to the second changing direction and the second changing angle.

The display terminal can send to the robotic arm a movement command to change the posture of the robotic arm according to the second changing direction and the second changing angle, after the robotic arm receives the moving command to change the posture of the robotic arm according to the second changing direction and the second changing angle , can control itself to change the posture of the robotic arm according to the second changing direction and the second changing angle.

In another embodiment of the present application, after the display terminal controls the mechanical arm to move according to the second movement path, it further includes: the intestinal contrast apparatus scans the second three-dimensional data of the patient's intestinal tract, and transmits the second three-dimensional data to the display terminal . The display terminal receives the second three-dimensional data, and identifies whether the capsule endoscope is located at the second position inside the intestinal tract of the patient according to the second three-dimensional data. When the capsule endoscope is not located at the second position inside the patient's intestinal tract, the display terminal outputs an alarm prompt. to inform that the capsule endoscope was unsuccessfully positioned at the second position inside the patient's bowel, the capsule endoscope may be re-controlled to the second position, or, where the capsule endoscope is positioned at the second position inside the patient's bowel Next, the display terminal outputs a success prompt to inform that the capsule endoscope is successfully positioned at the second position inside the patient's intestinal tract.

Further, in order to maintain synchronization, when the capsule endoscope is located at the second position inside the intestinal tract of the patient, the display terminal updates the position of the capsule endoscope in the displayed three-dimensional model.

Further, in order to facilitate the movement of the capsule endoscope, if the length of the first moving path is greater than a preset length, the first moving path is split into multiple consecutive first sub-paths. Correspondingly, the display terminal calculates that to control the first movement path of the external permanent magnet, it is necessary to control the second movement path of the mechanical arm with the external permanent magnet installed at the end, including: for any section of the first sub-path, the display terminal calculates as the control The external permanent magnet moves the first sub-path, and a second sub-path is needed to control the movement of the robotic arm with the external permanent magnet mounted on the end.

And, the display terminal controlling the mechanical arm to move according to the second moving path includes: for any segment of the second sub-path, the display terminal controlling the mechanical arm to move according to the second sub-path.

The preset length may include 5cm, 6cm or 7cm, etc., which may be determined according to actual conditions, and will not be described in detail here.

It should be noted that, for the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the application is not limited by the described action sequence, because according to this application, certain steps may be performed in another order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily required by the application.

Optionally, an embodiment of the present invention also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and operable on the processor. When the computer program is executed by the processor, the above method is implemented. Each process of the example, and can achieve the same technical effect, in order to avoid repetition, will not repeat them here.

The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned method embodiment is realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here. Wherein, the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and the like.

FIG. 4 is a block diagram of an electronic device 800 shown in this application. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.

4, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814 , and the communication component 816.

The processing component 802 generally controls the overall operations of the electronic device 800, such as those associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802 .

The memory 804 is configured to store various types of data to support operations at the device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, images, videos, and the like. The memory 804 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The power supply component 806 provides power to various components of the electronic device 800 . Power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic device 800 .

The multimedia component 808 includes a screen providing an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 800 is in operation modes, such as call mode, recording mode and voice recognition mode. Received audio signals may be further stored in memory 804 or sent via communication component 816 . In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.

Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of electronic device 800 . For example, the sensor component 814 can detect the open/closed state of the device 800, the relative positioning of components, such as the display and the keypad of the electronic device 800, the sensor component 814 can also detect the electronic device 800 or a component of the electronic device 800 Changes in the position of , presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and temperature changes of the electronic device 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as WiFi, an operator network (such as 2G, 3G, 4G or 5G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast operation information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 804 including instructions, which can be executed by the processor 820 of the electronic device 800 to complete the above method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

FIG. 5 is a block diagram of an electronic device 1900 shown in this application. For example, electronic device 1900 may be provided as a server.

Referring to FIG. 5 , electronic device 1900 includes processing component 1922 , which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922 , such as application programs. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

Electronic device 1900 may also include a power supply component 1926 configured to perform power management of electronic device 1900, a wired or wireless network interface 1950 configured to connect electronic device 1900 to a network, and an input-output (I/O) interface 1958 . The electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™ or the like.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.

Embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementations, and the above-mentioned specific implementations are only illustrative, rather than restrictive. Those of ordinary skill in the art will Under the enlightenment of the present invention, many forms can also be made without departing from the gist of the present invention and the protection scope of the claims, all of which belong to the protection of the present invention.

Those of ordinary skill in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed in the embodiments of the present invention can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A control method of a capsule endoscope, which is applied to a capsule endoscope control system, the system comprising: the capsule endoscope comprises a capsule endoscope, an external permanent magnet, a mechanical arm, a display terminal and an intestinal tract radiography instrument, wherein the capsule endoscope comprises the permanent magnet inside; the tail end of the mechanical arm is connected with an external permanent magnet; the display terminal is respectively in communication connection with the mechanical arm, the capsule endoscope and the intestinal tract radiography instrument;

the method comprises the following steps:

the capsule endoscope located at a first position in the intestinal tract of the patient acquires image information in the intestinal tract of the patient and transmits the image information to the display terminal;

the display terminal receives the image information and displays the image information;

the method comprises the steps that an intestinal tract radiography instrument scans first three-dimensional data of an intestinal tract of a patient and transmits the first three-dimensional data to a display terminal;

the display terminal receives the first three-dimensional data, constructs a three-dimensional model of the intestinal tract of the patient according to the first three-dimensional data, and displays the three-dimensional model, wherein the three-dimensional model is provided with a capsule endoscope located at a first position in the intestinal tract of the patient;

the method comprises the steps that a display terminal obtains a position moving request input by medical staff, wherein the position moving request is used for moving a capsule endoscope located inside the intestinal tract of a patient from a first position to a second position inside the intestinal tract of the patient;

the display terminal is used for calculating a first moving path which is used for moving the capsule endoscope positioned in the intestinal tract of the patient from a first position to a second position in the intestinal tract of the patient and controlling the movement of the external permanent magnet;

the display terminal calculates a second moving path for controlling the external permanent magnet to move and controlling the mechanical arm with the tail end provided with the external permanent magnet to move;

and the display terminal controls the mechanical arm to move according to the second moving path.

2. The method of claim 1, wherein the display terminal obtains the position movement request input by the medical staff member, comprising:

the display terminal receives a position selected by medical staff from a three-dimensional model displayed on a screen of the display terminal and takes the position as a second position;

and under the condition that the display terminal receives the triggering operation of the medical staff on the moving button displayed on the screen of the display terminal, generating the position moving request according to the first position and the second position.

3. The method of claim 1, further comprising:

the display terminal acquires a direction change request input by a medical staff, wherein the direction change request is used for requesting to change the direction of a capsule endoscope positioned in the intestinal tract of a patient from a first direction to a second direction;

the display terminal calculates that the orientation of the capsule endoscope positioned in the intestinal tract of the patient needs to be changed from a first orientation to a second orientation, and the first change direction and the first change angle of the orientation of the external permanent magnet need to be controlled;

the display terminal calculates to control the orientation of the external permanent magnet to change in a first change direction and a first change angle, and needs to control a second change direction and a second change angle of the posture of the mechanical arm with the external permanent magnet arranged at the tail end;

and the display terminal controls the mechanical arm to change the posture of the mechanical arm according to the second change direction and the second change angle.

4. The method according to claim 3, wherein the acquiring, by the display terminal, the orientation change request input by the medical staff member comprises:

the display terminal receives a sliding operation of a medical staff to change the orientation of the capsule endoscope in the three-dimensional model displayed on the screen of the display terminal from a first orientation;

determining a second orientation according to the sliding operation;

and when the display terminal receives a trigger operation of an orientation change button displayed on a screen of the display terminal by the medical staff, generating the orientation change request according to the first orientation and the second orientation.

5. The method according to claim 1, wherein after the display terminal controls the robot arm to move according to the second moving path, the method further comprises:

the intestinal tract radiography instrument scans second three-dimensional data of an intestinal tract of a patient and transmits the second three-dimensional data to the display terminal;

the display terminal receives the second three-dimensional data and identifies whether the capsule endoscope is located at a second position in the intestinal tract of the patient according to the second three-dimensional data;

under the condition that the capsule endoscope is not positioned at a second position in the intestinal tract of the patient, the display terminal outputs an alarm prompt;

or,

the display terminal outputs a success prompt if the capsule endoscope is located at a second location within the patient's intestinal tract.

6. The method of claim 5, further comprising:

the display terminal updates the position of the capsule endoscope in the displayed three-dimensional model with the capsule endoscope at a second location inside the patient's intestinal tract.

7. The method of claim 1, further comprising:

under the condition that the length of the first moving path is greater than the preset length, the first moving path is divided into a plurality of sections of continuous first sub-paths;

correspondingly, the display terminal calculates as controlling the external permanent magnet to move the first moving path, and needs to control the second moving path of the mechanical arm with the tail end provided with the external permanent magnet to move, and the second moving path comprises:

for any section of the first sub-path, the display terminal calculates to control an external permanent magnet to move the first sub-path and needs to control a second sub-path of the mechanical arm with the tail end provided with the external permanent magnet to move;

and the display terminal controls the mechanical arm to move according to the second moving path, and the method comprises the following steps:

and for any section of second sub-path, the display terminal controls the mechanical arm to move according to the second sub-path.

8. An electronic device, comprising: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the method of any of claims 1-7.

9. One or more machine-readable media having executable code stored thereon that, when executed, causes a processor to perform the method of any of claims 1-7.

10. A computer program product, the instructions of which, when executed by a processor of an electronic device, enable the electronic device to perform the method of any of claims 1-7.

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