阅读说明：本技术 无线胶囊内窥镜的往复旋转驱动系统、设备及介质 (Reciprocating rotary driving system, device and medium of wireless capsule endoscope ) 是由 孟李艾俐 许杨昕 于 2021-08-13 设计创作，主要内容包括：本申请实施例适用于医疗设备技术领域,提供了一种无线胶囊内窥镜的往复旋转驱动系统、设备及介质,所述系统包括驱动器磁体和无线胶囊内窥镜,所述驱动器磁体配置有相应的往复旋转区间；所述驱动器磁体用于在所述往复旋转区间内往复旋转,以产生方向周期性变化的磁力；其中,所述方向周期性变化的磁力用于驱动所述无线胶囊内窥镜在人体腹腔腔道内往复旋转。采用上述系统驱动无线胶囊内窥镜的运动,可以降低因无线胶囊内窥镜的连续旋转运动导致的腹腔腔道扭曲的风险。(The embodiment of the application is suitable for the technical field of medical equipment, and provides a reciprocating rotary driving system, equipment and a medium of a wireless capsule endoscope, wherein the system comprises a driver magnet and the wireless capsule endoscope, and the driver magnet is provided with a corresponding reciprocating rotary section; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner. By adopting the system to drive the wireless capsule endoscope to move, the risk of distortion of the abdominal cavity caused by continuous rotation of the wireless capsule endoscope can be reduced.)

1. A reciprocating rotary drive system for a wireless capsule endoscope, the system comprising a driver magnet and a wireless capsule endoscope, the driver magnet configured with a corresponding reciprocating rotary sector; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

2. The system of claim 1, wherein the reciprocation rotation interval is an angle interval formed by reciprocating rotation by a preset angle around a target rotation angle, which is an angle by which the magnetic moment of the driver magnet rotates around the rotation axis of the driver magnet.

3. The system of claim 2, wherein the target rotation angle is 180 ° and the reciprocating rotation interval is [180 ° - θ ]_ar，180°+θ_ar](ii) a Wherein, theta_arIs the preset angle.

4. The system according to claim 3, characterized in that said preset angle is 90 °.

5. The system of any one of claims 1-4, wherein the driver magnet is mounted within a driver, the driver further comprising a drive motor for driving the driver magnet in reciprocating rotation within the reciprocating rotation interval.

6. The system of claim 5, wherein the driver magnet is a spherical permanent magnet having a magnetic moment oriented orthogonal to the axis of rotation of the drive motor.

7. The system of any one of claims 1-4 or 6, wherein the wireless capsule endoscope comprises an annular permanent magnet, and the direction of magnetization of the annular permanent magnet is orthogonal to the axial direction of the wireless capsule endoscope.

8. The system of claim 7, further comprising a sensor array comprising a plurality of sensors arranged in a matrix for positioning the wireless capsule endoscope.

9. A reciprocating rotary drive apparatus of a wireless capsule endoscope, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a method comprising:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

10. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the method of:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

Technical Field

The embodiment of the application belongs to the technical field of medical equipment, and particularly relates to a reciprocating rotation driving system, equipment and a medium of a wireless capsule endoscope.

Background

The wireless capsule endoscope is a technology for complete digestive tract examination, and has the characteristics of no pain, non-invasiveness and the like. The wireless capsule endoscope can not only inspect abdominal organs such as esophagus, stomach, duodenum, large intestine and the like, but also can completely inspect small intestine, which is an area that can not be inspected by the traditional gastroscope or the traditional enteroscope. The wireless capsule endoscope is a capsule-shaped micro-robot, and is provided with an illumination module, a camera module, an image processing module, a wireless transmission module, and the like. After the wireless capsule endoscope enters the digestive tract of a human body through swallowing of a patient, images can be shot in vivo and transmitted to the outside of the body in real time. A doctor or a computer automated diagnostic system can make a disease diagnosis based on the received images.

Generally, when a wireless capsule endoscope is used for examining diseases in an abdominal cavity such as a gastrointestinal tract, the wireless capsule endoscope can be controlled to continuously rotate and advance in the abdominal cavity by an external magnetic field. However, the continuous rotational motion of the wireless capsule endoscope may cause distortion of the abdominal cavity and, severely, even damage to the cavity.

Disclosure of Invention

In view of the above, embodiments of the present application provide a reciprocating rotary drive system, apparatus and medium for a wireless capsule endoscope to reduce the risk of gastrointestinal tract distortion due to continuous rotary motion of the wireless capsule endoscope.

A first aspect of an embodiment of the present application provides a reciprocating rotary drive system of a wireless capsule endoscope, the system comprising a driver magnet and a wireless capsule endoscope, the driver magnet configured with respective reciprocating rotary zones; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

A second aspect of an embodiment of the present application provides a reciprocating rotary drive apparatus of a wireless capsule endoscope, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following method when executing the computer program:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

A third aspect of embodiments of the present application provides a reciprocating rotary drive device of a wireless capsule endoscope, comprising:

the determining module is used for determining the reciprocating rotation interval of the driver magnet;

the control module is used for controlling the driver magnet to rotate in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force with periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

A fifth aspect of embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the following method:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

Compared with the prior art, the embodiment of the application has the following advantages:

according to the embodiment of the application, the reciprocating rotation interval of the driver magnet can be determined, so that the driver magnet can be controlled to rotate in a reciprocating manner in the reciprocating rotation interval. The direction of the magnetic force generated by the reciprocating rotation of the driver magnet will change periodically. When the magnet with the periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can also be driven to rotate in the abdominal cavity of the human body in a reciprocating manner, so that the risk that the cavity of the wireless capsule endoscope is twisted due to continuous rotation motion is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic diagram of an application scenario of a reciprocating rotary drive system of a wireless capsule endoscope provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a wireless capsule endoscope provided by an embodiment of the present application;

fig. 3 is a schematic diagram of a driver provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a driver magnet interacting with a wireless capsule endoscope as provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a magnetic field experienced by a wireless capsule endoscope provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of magnetic forces on a wireless capsule endoscope as provided by an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating the variation of magnetic force on a wireless capsule endoscope during one cycle of reciprocal rotation of a driver magnet according to embodiments of the present application;

FIG. 8 is a schematic diagram illustrating a comparison of risks of intestinal distortion in different rotation modes according to an embodiment of the present application;

FIG. 9 is a schematic flow chart illustrating the reciprocating rotational drive of a wireless capsule endoscope according to an embodiment of the present application;

FIG. 10 is a schematic view of a reciprocating rotary drive device of a wireless capsule endoscope provided by an embodiment of the present application;

FIG. 11 is a schematic diagram of a reciprocating rotary drive apparatus of a wireless capsule endoscope provided by an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The technical solution of the present application will be described below by way of specific examples.

Referring to fig. 1, a schematic view of an application scenario of a reciprocating rotary drive system of a wireless capsule endoscope provided in an embodiment of the present application is shown. Before the examination begins, the patient 101 is asked to swallow a wireless capsule endoscope 102 and lie on an examination table 103.

Fig. 2 is a schematic view of a wireless capsule endoscope according to an embodiment of the present application. The wireless capsule endoscope 102 is embedded with a ring-shaped permanent magnet 1021, and the ring-shaped permanent magnet 1021 is wrapped by a capsule shell 1022. The magnetizing direction of the annular permanent magnet 1021 and the axial direction of the wireless capsule endoscope 102 (i.e., a in fig. 2)₁A₂Direction) are orthogonal. In general, magnets are placed inside the wireless capsule endoscope 102 in order to drive the wireless capsule endoscope 102. In the prior art, the magnetization direction of the magnet in the wireless capsule endoscope 102 is generally the axial direction of the wireless capsule endoscope 102, and this processing mode enables the axial direction of the wireless capsule endoscope 102, that is, the head direction of the wireless capsule endoscope 102, to be easily determined in subsequent work. But this also results in the inability to rotate the wireless capsule endoscope 102 along an axis. Book (I)In the embodiment, the wireless capsule endoscope 102 can rotate along the axis under the action of the rotating magnetic field and be driven by enabling the magnetizing direction of the annular permanent magnet 1021 to be orthogonal to the axial direction of the wireless capsule endoscope 102.

As shown in fig. 1, the examination table 103 is covered with a large sensor array 104, and the entire sensor array 104 includes a plurality of sensors arranged in a rectangular shape. During the examination, some or all of the sensors in the sensor array 104 will be activated for positioning the wireless capsule endoscope.

In one possible implementation of the embodiments of the subject application, the sensors activated during the examination may be only some of the sensors in the sensor array 104, and these activated sensors may be sensors that are closer to the current location of the wireless capsule endoscope 102. Moreover, the activated sensors may be sensors arranged in a certain manner in the sensor array 104, and when the sensors are used for positioning the wireless capsule endoscope 102, not only the positioning frequency can be increased, but also higher positioning accuracy can be obtained. When the wireless capsule endoscope 102 moves to a next location, another portion of the sensors from the sensor array 104 may be activated, and the newly activated another portion of the sensors employed to locate the wireless capsule endoscope 102.

As shown in fig. 1, a robot arm 105 is mounted beside the examination table 103, and a drive 106 is mounted on an end effector of the robot arm 105.

Fig. 3 is a schematic diagram of a driver according to an embodiment of the present disclosure. The actuator 106 includes a drive motor 1061 and an actuator magnet 1062, where the actuator magnet 1062 may be a spherical permanent magnet. The magnetic moment direction of the spherical permanent magnet is orthogonal to the rotation axis of the drive motor 1061. Thus, when the driving motor 1061 rotates, the magnetic moment of the spherical permanent magnet rotates, and a rotating magnetic field is generated.

The wireless capsule endoscope 102, the examination table 103, the sensor array 104, the robot arm 105, the driver 106, and the like shown in fig. 1 together constitute a reciprocating rotary drive system of the wireless capsule endoscope according to the embodiment of the present application. Further, the above-described reciprocating rotary drive system may further include a data processing computer (not shown in fig. 1) connected to the examination couch 103, the sensor array 104, the robot arm 105, the drive 106, and the like. The data processing computer may have a reciprocating rotational drive algorithm stored therein, as well as other indispensable programs or algorithms such as positioning, display, storage, etc. In the examination process, the reciprocating rotation driving system can drive the wireless capsule endoscope 102 to rotate in the abdominal cavity in a reciprocating manner by executing the reciprocating rotation driving algorithm, so that the risk of twisting of the abdominal cavity caused by continuous rotation motion is reduced.

Before describing a specific application of the reciprocating rotary drive system of the embodiments of the present application, a reciprocating rotary drive algorithm is first described.

The reciprocating rotation driving system provided by the embodiment of the application can drive the movement of the wireless capsule endoscope by adopting a Reciprocating Rotation Magnetic Actuation (RRMA) mode. In a reciprocating rotary magnetic drive mode, the driver magnet can rotate in a reciprocating rotary interval to generate magnetic force with periodically changed direction. When the generated magnetic force with periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can rotate in different directions around the rotating shaft in sequence in one period of the reciprocating rotation of the driver magnet. For example, during the first half of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet may cause the wireless capsule endoscope to rotate clockwise about the axis of rotation; during the second half of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate counterclockwise about the axis of rotation. Alternatively, during the first half cycle of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet may cause the wireless capsule endoscope to rotate counterclockwise about the axis of rotation; during the latter half of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate clockwise about the axis of rotation. By driving the wireless capsule endoscope to rotate in a reciprocating manner, the risk of cavity twisting possibly caused in the process of the wireless capsule endoscope moving in the abdominal cavity can be effectively reduced.

Fig. 4 is a schematic diagram of the interaction of a driver magnet with a wireless capsule endoscope according to an embodiment of the present application. Wherein (a) and (b) in fig. 4 are views of the wireless capsule endoscope and driver magnet, respectively, in different directions under interaction. As shown in FIG. 4, the wireless capsule endoscope can be driven by an extra-corporeal driver magnet, which is a spherical permanent magnet. The desired axis of rotation of the wireless capsule endoscope and the axis of rotation of the driver magnet may be used separatelyAndand (4) showing.

It is to be noted that, in the respective embodiments described in the present application, all the belts are provided unless otherwise specifiedExpressions of symbols each represent a direction of a physical quantity corresponding to the expression. For example,representing the axis of rotation omega of the driver magnet_aIn the direction of (a).

When starting to be in an initial stateAndare all aligned with the positive x-axis direction, and can be represented using two angles since the unit vector has only two degrees of freedomAnd

exemplary embodiments of the inventionGround, θ can be adopted_czAnd theta_cyTo representUsing theta_azAnd theta_ayTo representNamely:

wherein, theta_czTo representAngle of rotation about z-axis, theta_cyTo representAngle of rotation about the y-axis, theta_azTo representAngle of rotation about z-axis, theta_ayTo representAngle of rotation about the y-axis.

Order toAligned with the positive z-axis direction in the initial state, theta_axRepresenting magnetic moment of driver magnetAbout the axis of rotation of the driver magnetThe angle of rotation. In combination with the above-mentioned angle theta_azAnd theta_ayThe magnetic moment of the driver magnet can be calculatedIn the direction of (a).

Desired axis of rotation for a given wireless capsule endoscopeIn order to be able to rotate the wireless capsule endoscope at a desired position thereofFor generating a rotating magnetic field for the shaft, the axis of rotation of the driver magnetThe following formula can be adopted to calculate:

wherein r ═ P_c-P_aIndicating the center P of a Wireless Capsule endoscope_cWith the centre P of the driver magnet_aRelative positional relationship therebetween. As shown in FIG. 4, H is P_aIn thatProjection of (2); alpha represents r and P_aH, the angle between H, i.e., the drive angle of the driver magnet; beta represents P_a、P_cAnd H and the vertical line. Assume center P of wireless capsule endoscope_cWith the centre P of the driver magnet_aD, the center P of the wireless capsule endoscope can be calculated_cWith the centre P of the driver magnet_aRelative position therebetween

On the basis, the magnetic field of the wireless capsule endoscope can be calculated according to a magnetic field calculation formula under a magnetic dipole model, wherein the magnetic field is as follows:

the embodiment of the application does not assume the real magnetic moment of the wireless capsule endoscopeAlways in the direction of the applied magnetic fieldAlignment, which is generally only true in an enlarged container filled with liquid. In the context of the application of the embodiments of the present application, as shown in FIG. 5, the motion of a wireless capsule endoscope is often limited and affected by the walls of the elongated tubular lumen. Thus, the present embodiments assume the true magnetic moment direction of a wireless capsule endoscopeBy a magnetic field b_cAnd the current rotation axis of the wireless capsule endoscopeAnd (4) jointly determining. Namely, the real magnetic moment direction of the wireless capsule endoscope is the magnetic field and the current rotating shaft of the magnetic fieldUnit vector of the difference of the projections on.

In the embodiment of the present application, the magnetic force f applied to the wireless capsule endoscope can be regarded as a resultant force of a plurality of components. For example, the magnetic force f experienced by a wireless capsule endoscope can be viewed as three components f as shown in FIG. 6_ρ、f_lAnd f_rThe resultant force of (a). Wherein the first component f_ρIs along the desired axis of rotation of the wireless capsule endoscopeA second component f of the propulsion_lIs a lateral force perpendicular to the U-plane, the third component f_rIs the remaining residual force, i.e.: f. of_r＝f-f_ρ-f_l。

FIG. 7 shows a schematic diagram of the variation in magnetic force experienced on a wireless capsule endoscope during one cycle of reciprocating rotation of the driver magnet. As can be seen from FIG. 7, the propulsive force f_ρThe magnitude of (A) is hardly changed with the change of the rotation angle, and the value is very stable. When the rotation angle is about 180 DEG, the lateral force f_lAlmost 0, and the remaining force f_rA maximum value is reached. When the rotation angle is about 180 °, the change of the magnetic force f is also the slowest. Therefore, it is possible to select a reciprocating rotation section of the driver magnet centered at 180 °. Let theta_arFor the reciprocating rotation angle of the driver magnet, the reciprocating rotation interval of the driver magnet can be expressed as: theta_ax∈[180°-θ_ar，180°+θ_ar]。

Generally, θ_arSmaller and faster frequency of reciprocating rotation of the driver magnet, and propulsive force f_ρIt is the focus of the embodiments of the present application, so the embodiments of the present application may use the magnetic force at the rotation angle of 180 ° to represent the magnetic force in one reciprocating rotation period.

Through simulation, different reciprocating rotation angles can cause different cavity twisting risks and propelling efficiency. The larger the reciprocating rotation angle, the larger the amplitude of the distortion or deformation of the cavity channel, but the stronger the force for opening the cavity channel to the side direction, which is beneficial to the forward propulsion of the wireless capsule endoscope. Therefore, the embodiment of the application can select a balance point between the channel twisting risk and the propelling efficiency, and determine the optimal reciprocating rotation angle to be 90 degrees. When the optimal reciprocating rotation angle of the driver magnet is 90 degrees, the corresponding reciprocating rotation interval is [90 degrees, 270 degrees ].

Fig. 8 is a schematic diagram illustrating a comparison of intestinal tract distortion risks in different rotation modes according to an embodiment of the present application. Fig. 8 shows the force applied by the wireless capsule endoscope to the intestinal wall and the analysis of the risk of possibly causing intestinal tract distortion under different rotation modes, qualitatively shows that the Continuous Rotation Magnetic Actuation (CRMA) mode causes intestinal tract distortion and the RRMA mode provided by the embodiment of the present application can avoid the reason of intestinal tract distortion, and thus verifies the optimal reciprocating rotation angle. Wherein (a) in fig. 8 is the force of the wireless capsule endoscope against the intestinal wall in the CRMA drive mode; fig. 8 (b) shows the force applied to the intestinal wall by the wireless capsule endoscope in the RRMA drive mode.

As shown in fig. 8 (a), the wireless capsule endoscope is driven by the CRMA mode. Under the action of magnetic force, the continuously rotating wireless capsule endoscope firstly generates pressure f on the left side wall of the intestinal tract_normalThe pressure f_normalWith lateral force f on wireless capsule endoscope_lAre equal. Furthermore, the rotating wireless capsule endoscope also generates friction force f to the intestinal wall_frictionThis friction force f_frictlonCausing the intestinal wall to move counterclockwise. As the wireless capsule endoscope continues to rotate, the wireless capsule endoscope still generates pressure f to the right side wall of the intestinal tract under the action of lateral force_normalAlso, friction force f is generated to the intestinal wall_friction. Then, the frictional force f at this time_frictionStill resulting in a counterclockwise motion of the intestinal wall. Thus, over the entire cycle of the CRMA, the wireless capsule endoscope may distort the intestinal wall in the same direction, which may cause the intestinal tract to distort.

As shown in fig. 8 (b), the wireless capsule endoscope is driven in the RRMA mode. Under the action of magnetic force, the reciprocating and rotating wireless capsule endoscope can generate pressure f on the left side wall of the intestinal tract_normalAnd generates a counterclockwise friction force f to the intestinal wall_frictionSo that the intestinal wall tends to move counter-clockwise. As the wireless capsule endoscope is driven to rotate in the opposite direction, it generates a pressure f on the right sidewall under the action of a lateral force_normalAnd a friction force f_friction. By friction force f on the side walls_frictionThe intestinal tract is moved clockwise. Thus, throughout the RRMA cycle, within the wireless capsuleThe speculum causes the direction of rotation of the intestinal wall in the first and second half cycles to be opposite. That is, even if the intestinal wall is distorted in the first half of the cycle, it can be restored in the second half of the cycle. Therefore, the reciprocating rotation system provided by the embodiment of the application is used for driving the wireless capsule endoscope to rotate in a reciprocating manner, so that the risk of intestinal tract and other cavity distortion can be greatly reduced.

As shown in fig. 8 (c), a schematic diagram of the lateral force of the wireless capsule endoscope against the intestinal wall in different rotation modes is shown. Wherein, (c.1) shows the change situation of the lateral force in the CRMA driving mode, and the abscissa in (c.1) represents the angle corresponding to one period of continuous rotation of the wireless capsule endoscope, namely the angle change in the process of sequentially rotating from 0 degree to 360 degrees shown by the abscissa in (c.1); the ordinate in (c.1) represents the variation of the lateral force to which the wall of the intestine is subjected at different angles. From (c.1), it can be seen that the magnitude and direction of the lateral force applied to the intestinal wall changes during the continuous rotation of the wireless capsule endoscope. (c.2) - (c.6) show the variation of lateral force for different reciprocating rotation angles in RRMA driving mode. (c.2) - (c.6) show the rotation angle (theta) according to different reciprocating rotation angles_arIncreasing gradually from 10 ° to 90 °) changes in the lateral forces to which the wall of the intestine is subjected in the case of driving the driver magnet. The abscissa in each of the (c.2) - (c.6) schematic diagrams represents different reciprocating rotation angles, wherein (c.2) corresponds to a reciprocating rotation angle of 10 °, (c.3) corresponds to a reciprocating rotation angle of 30 °, (c.4) corresponds to a reciprocating rotation angle of 50 °, (c.5) corresponds to a reciprocating rotation angle of 70 °, (c.6) corresponds to a reciprocating rotation angle of 90 °, (c.2) - (c.6) each represents a change in a lateral force applied to the intestinal wall when the driver magnet is controlled to drive the wireless capsule endoscope to rotate in a reciprocating manner according to the reciprocating rotation angle shown in the abscissa. It is observed that in the RRMA drive mode, the lateral forces on the intestinal wall are greater as the angle of reciprocation rotation increases. As shown in FIG. 8 (d), the rubbing of the wireless capsule endoscope against the intestinal wall in different rotation modes is demonstratedSchematic diagram of wiping force. Wherein (d.1) shows the change of the friction force in the CRMA driving mode. (d.2) - (d.6) show the change of friction corresponding to different reciprocating rotation angles in the RRMA driving mode. It is very clearly observed that the forces to which the wall of the intestine is subjected are always in the same direction under the influence of the CRMA, which may lead to a higher risk of intestinal distortion. And under the RRMA driving mode, no matter how many degrees the driving angle is, the acting force that the intestinal wall received is the cycle reciprocal, has reduced the risk that the intestinal twists. Meanwhile, the larger lateral force on the intestinal wall is beneficial to the opening of the intestinal tract, and is also more beneficial to pushing the wireless capsule endoscope to advance. Therefore, in the case of securing the RRMA driving, a large reciprocating rotation angle, that is, 90 ° may be selected as the reciprocating rotation angle of the driver magnet.

Referring to fig. 9, a schematic flow chart of a reciprocating rotation driving process of a wireless capsule endoscope provided in an embodiment of the present application is shown, which may specifically include the following steps:

and S901, determining the reciprocating rotation interval of the driver magnet.

It should be noted that the reciprocating rotation driving process of the wireless capsule endoscope shown in fig. 9 can be realized by the reciprocating rotation driving system provided by the embodiment of the present application by invoking the aforementioned reciprocating rotation driving algorithm. For the reciprocating rotation driving algorithm, reference may be made to the description of the related parts, and the description is not repeated here.

In the embodiment of the present application, the reciprocating rotation interval of the driver magnet may be an angle interval formed by reciprocating rotation of a predetermined angle around the target rotation angle. The target rotation angle may be an angle at which the magnetic moment of the driver magnet rotates around the rotational axis of the driver magnet.

In one possible implementation of the embodiment of the present application, the target rotation angle may be 180 °. Thus, the reciprocating rotation interval of the driver magnet can be expressed as [180 ° - θ ]_ar，180°+θ_ar](ii) a Wherein, theta_arIs a preset angle, which is the reciprocating rotation angle of the driver magnet.

In the embodiment of the present application, the reciprocating rotation angle may be specifically set according to actual needs, and the embodiment of the present application does not limit this.

In one possible implementation of the embodiment of the present application, when the reciprocating rotation driving mode is applied, the acting force applied to the cavity wall is periodically reciprocated no matter how many degrees the driving angle is. On the other hand, the expansion of the cavity is facilitated due to larger lateral force on the cavity wall, and the wireless capsule endoscope is more facilitated to be pushed to advance. Therefore, when the reciprocating rotation driving mode is applied, a large reciprocating rotation angle, that is, 90 ° can be selected as the reciprocating rotation angle of the driver magnet.

S902, controlling the driver magnet to rotate in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

In the embodiment of the present application, after determining the reciprocating rotation interval of the driver magnet, the reciprocating rotation driving system may control the driver magnet to rotate reciprocally in the reciprocating rotation interval, so as to generate the magnetic force with the direction periodically changing. After the magnetic force acts on the wireless capsule endoscope, the wireless capsule endoscope can be driven to rotate in the abdominal cavity in a reciprocating manner.

According to the embodiment of the application, the reciprocating rotation interval of the driver magnet can be determined, so that the driver magnet can be controlled to rotate in a reciprocating manner in the reciprocating rotation interval. The direction of the magnetic force generated by the reciprocating rotation of the driver magnet will change periodically. When the magnet with the periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can also be driven to rotate in the abdominal cavity of the human body in a reciprocating manner, so that the risk that the cavity of the wireless capsule endoscope is twisted due to continuous rotation motion is reduced.

Referring to fig. 10, a schematic diagram of a reciprocating rotary driving device of a wireless capsule endoscope provided in an embodiment of the present application is shown, and the device may specifically include a determination module 1001 and a control module 1002, where:

a determination module 1001 for determining a reciprocating rotation interval of the driver magnet;

a control module 1002, configured to control the driver magnet to rotate reciprocally in the reciprocal rotation interval to generate a magnetic force with a periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

In this embodiment, the reciprocating rotation interval may be an angle interval formed by reciprocating rotation of a preset angle around a target rotation angle, and the target rotation angle may be an angle at which the magnetic moment of the driver magnet rotates around the rotation axis of the driver magnet.

In the embodiment of the present application, the target rotation angle may be 180 °, and thus, the reciprocating rotation interval is [180 ° - θ ]_ar，180°+θ_ar](ii) a Wherein, theta_arIs the preset angle.

In the embodiment of the present application, the preset angle may be 90 °.

In the embodiment of the present application, the driver magnet is installed in the driver, and the driver may further include a driving motor, and the driving motor may be configured to drive the driver magnet to rotate reciprocally in the reciprocating rotation interval.

In the embodiment of the present application, the driver magnet may be a spherical permanent magnet, and a magnetic moment direction of the spherical permanent magnet may be orthogonal to a rotation axis of the driving motor.

In an embodiment of the present application, the wireless capsule endoscope may include an annular permanent magnet, and a magnetizing direction of the annular permanent magnet may be orthogonal to an axial direction of the wireless capsule endoscope.

In an embodiment of the present application, the system may further comprise a sensor array, which may comprise a plurality of sensors arranged in a matrix, which may be used to position the wireless capsule endoscope.

As for the embodiment of the apparatus, since it is basically similar to the embodiment corresponding to fig. 9, it is relatively simple to describe, and for the relevant points, refer to the description of the foregoing embodiment.

Referring to fig. 11, a schematic diagram of a reciprocating rotary drive apparatus of a wireless capsule endoscope provided by an embodiment of the present application is shown. As shown in fig. 11, a reciprocating rotary drive apparatus 1100 of a wireless capsule endoscope of the embodiment of the present application includes: a processor 1110, a memory 1120, and computer programs 1121 stored in the memory 1120 and operable on the processor 1110. The processor 1110, when executing the computer program 1121, implements the methods or steps in the various embodiments of the reciprocating rotational drive system described above, such as steps S901 to S902 shown in fig. 9. Alternatively, the processor 1110, when executing the computer program 1121, implements the functions of the modules/units in the above-described reciprocating rotational driving apparatus embodiment, such as the functions of the modules 1001 to 1002 shown in fig. 10.

Illustratively, the computer programs 1121 can be divided into one or more modules/units that are stored in the memory 1120 and executed by the processor 1110 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions that may be used to describe the execution of the computer program 1121 in the reciprocating rotary drive device 1100 of the wireless capsule endoscope. For example, the computer program 1121 may be divided into a determination module and a control module, and the specific functions of each module are as follows:

the determining module is used for determining the reciprocating rotation interval of the driver magnet;

the control module is used for controlling the driver magnet to rotate in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force with periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

The reciprocating rotary drive apparatus 1100 of the wireless capsule endoscope may include, but is not limited to, a processor 1110, a memory 1120. Those skilled in the art will appreciate that fig. 11 is merely an example of a reciprocating rotary drive device 1100 of a wireless capsule endoscope and does not constitute a limitation of the reciprocating rotary drive device 1100 of a wireless capsule endoscope, and may include more or fewer components than shown, or combine certain components, or different components, e.g., the reciprocating rotary drive device 1100 of a wireless capsule endoscope may also include input-output devices, network access devices, buses, etc.

The Processor 1110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 1120 may be an internal storage unit of the reciprocating rotary drive device 1100 of the wireless capsule endoscope, such as a hard disk or memory of the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 may also be an external storage device of the reciprocating rotary drive device 1100 of the wireless capsule endoscope, such as a plug-in hard disk provided on the reciprocating rotary drive device 1100 of the wireless capsule endoscope, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like. Further, the memory 1120 may also include both an internal memory unit and an external memory device of the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 is used to store the computer programs 1121 and other programs and data required by the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also discloses a reciprocating rotation driving device of the wireless capsule endoscope, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following method:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program realizes the following method:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

The embodiment of the present application also discloses a computer program product, when the computer program product runs on a terminal device, the terminal device can execute the following method:

determining a reciprocating rotation interval of the driver magnet;

controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.