Patent Description:
Capsule endoscope is a capsule-shaped medical device designed to examine human gastrointestinal tract. Generally, after the capsule endoscope is swallowed by the patient into their body, an external magnetic control device guides the device to move in the GI tract, so as to view the health status of the gastrointestinal and esophageal regions of the patient and help the doctor to make a diagnosis.

A control system for the capsule endoscope of prior art comprises a capsule endoscope for collecting information of the digestive tract of the patient to be examined, wherein a permanent magnet is provided; a capsule endoscope control device for controlling the movement of the capsule endoscope by the permanent magnet; a control terminal for receiving and displaying digestive tract information and capsule endoscope position information as well as controlling the operation of the capsule endoscope control device. After moving to a first position to be examined under control of the capsule endoscope control device, the capsule endoscope can send information of the digestive tract at the first position to the control terminal and display, so that the examiner can clearly observe the digestive tract conditions of the patient. Then, move the capsule endoscope to a second position for examination, and send the digestive tract conditions to the control terminal. Therefore, all target positions can be examined by this way.

The robot of the control system for the capsule endoscope is fixed on a control cabinet with casters and can move around with the movement of the control cabinet. However, this kind of movement may cause the robot to crash into the surrounding examination bed or control terminal, affecting the patient experience, or even damaging the precision instrument.

In addition, an active magnet is suspended below the robot arm of the control system. As the robot arm reaches a designated position, the active magnet is controlled to move and exert an magnetic attraction force on the permanent magnet in the capsule endoscope, and thereby drive the capsule endoscope to move in the digestive tract. However, since the active magnet under the robot arm is heavy, vertical movement needs to overcome the effect of gravity. As a precision machine, the robot arm provides limited loading capacity and is costly. Long-time heavy load may cause the robot arm to be deformed and even damaged, affecting the examination accuracy consequently.

Further, in the above solution, the control of the capsule by the control system is transmitted through human-control terminal -computer-server-motor-permanent magnet, so that the overall system structure is complicated and the operation is inconvenient. In addition, the examination position is fixed, so all-round scanning and control are impossible.

Moreover, the control system can be a mechanical arm for controlling an active magnet connected to the mechanical arm, and achieve the purpose for controlling the capsule endoscope. At this time, the active magnet is too heavy that can result in heavy bearings and high costs of motors of the mechanical arm.

<CIT> discloses a magnetic guiding device (robotics) for an intracorporeal object that includes a motor-driven positioning device having a maximum of three degrees of freedom to be activated for translational motion of a connecting interface of the positioning device to which a magnetic end effector is connected or connectable, the latter including a maximum of two degrees of freedom to be activated for rotational motion of a magnetic field generator. At least one of the two degrees of freedom of the magnetic end effector is encased in an effector housing.

<CIT> discloses a pivot port that can provide a pivot point for a surgical instrument. The pivot port may be held in a stationary position by a support arm assembly that is attached to a table. The pivot port may include either an adapter or a ball joint that can support the surgical instrument. The pivot port allows the instrument to pivot relative to a patient.

<CIT> discloses a surgical endoscope support device for supporting a surgical endoscope at an end of a support arm over, and proximate to, a surgical site of a patient, the endoscope support device comprising a support and pivot body including a socket housing and a pivot ball, the socket housing having a centrally positioned inner bore in open communication between upper and lower surfaces, the inner bore having a spherical surface, and the pivot ball, positionable within the inner bore of the socket housing, in pivotable contact with the spherical surface of the inner bore, the pivot ball including a cylindrical bore through the center of the pivot ball, the cylindrical bore having a substantially uniform inner diameter along a long axis of the cylindrical bore, and an endoscope adapter having a substantially cylindrical outer wall and a substantially cylindrical central bore, the outer wall having an outer dimension substantially equivalent to the inner diameter of the cylindrical bore of the pivot ball for a sufficiently snug fit when the endoscope adapter is positioned within the cylindrical bore, the central bore of the adapter being adaptable for slidable telescoping engagement of the surgical endoscope through the central bore.

Therefore, it is necessary to provide a control system for the capsule endoscope that features simplified structure, easy operation, low cost and provides all-round scanning and control capability.

The present invention discloses a control system for a capsule endoscope, comprising a balance arm device, a mechanical arm, a permanent magnet and a <NUM>-DOF rotary platform; wherein the bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom; wherein the bottom of the mechanical arm is fixed, and the active end of the mechanical arm connects with a spherical hinge; wherein the <NUM>-DOF rotary platform is fixed below the boom and the permanent magnet is located in the <NUM>-DOF rotary platform; wherein the spherical hinge connects to the boom, assisting the permanent magnet to move around an area around a subject.

It is one object of the present invention that the balance arm device is a pneumatic balance arm or a spring assisted balance arm.

It is another object of the present invention that the balance arm device and the mechanical arm are fixed to different fixing objects or a same fixing object.

It is another object of the present invention that the control system uses the balance arm device in conjunction with the mechanical arm to provide a <NUM>-DOF movement range, and realize free control of a capsule endoscope through control of the permanent magnet.

It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features. The description is not to be considered as limiting the scope of the embodiments described herein.

Referring to <FIG>, which shows a schematic view of a control system for a capsule endoscope. As shown in <FIG>, the control system for the capsule endoscope <NUM> comprises a balance arm device <NUM>, a mechanical arm <NUM>, a permanent magnet <NUM> and a <NUM>-DOF rotary platform <NUM>. The bottom of the balance arm device <NUM> is fixed, and the active end of the balance arm device <NUM> connects with a boom <NUM>. The bottom of the mechanical arm <NUM> is fixed and the active end of the mechanical arm <NUM> connects with a spherical hinge <NUM>. The spherical hinge <NUM> connects to the boom <NUM>, and assists the boom <NUM> to move in all directions above and at the side of the subject to be examined for accurate positioning. The <NUM>-DOF rotary platform <NUM> is linked below the boom <NUM> and the permanent magnet <NUM> is located in the <NUM>-DOF rotary platform <NUM>. An examination bed <NUM> is put below the <NUM>-DOF rotary platform <NUM> for convenient examination of the subject lying on the bed. The area between the examination bed <NUM> and the <NUM>-DOF rotary platform <NUM> is an examination area. At the time of examination, the capsule endoscope containing a small magnet enters the digestive tract of the subject, and with the assistance of the balance arm device <NUM> and the mechanical arm <NUM>, the permanent magnet <NUM> acts on the small magnet inside the capsule endoscope to drive the capsule endoscope to move within the digestive tract.

In the embodiment, the control system <NUM> further comprises a console (not shown in <FIG>) which is used to drive the mechanical arm <NUM> to move to adjust spatial positions of the boom <NUM>, so as to drive the permanent magnet <NUM> to move in three-dimensional space. The console is also used to detect and obtain the spatial positions of the permanent magnet <NUM>, and the spatial positions of the permanent magnet <NUM> comprise a three-dimensional position and a two-dimensional direction.

In another embodiment, the control system <NUM> does not comprise a console. The mechanical arm <NUM> is manually moved to adjust the spatial positions of the boom <NUM>, so as to drive the permanent magnet <NUM> to move in three-dimensional space. In such case, the control system <NUM> can comprise a magnetic sensor array (not shown in <FIG>). The magnetic sensor array comprises a plurality of magnetic sensors that are used to detect the spatial positions of the permanent magnet <NUM>.

In the embodiment, the permanent magnet <NUM> performs two-dimensional rotation within the <NUM>-DOF rotary platform <NUM>. At this moment, it is necessary to make sure that the initial direction of the rotary platform <NUM> is unchanged. When the balance arm device <NUM> and the mechanical arm <NUM> adjust the spatial positions, the <NUM>-DOF rotary platform <NUM> may have a deflection and the angle of deflection can be superimposed on the rotation angle of the permanent magnet <NUM>. In order to improve the control precision of the permanent magnet <NUM> on the capsule endoscope, the angle of deflection of the <NUM>-DOF rotary platform <NUM> needs to be compensated.

In the embodiment, the console or the magnetic sensor array detects the position and direction of the permanent magnet <NUM>, and calculates the compensation angle of the <NUM>-DOF rotary platform <NUM> according to the displacement of the permanent magnet <NUM>. As shown in <FIG> , the permanent magnet <NUM> and the <NUM>-DOF rotary platform <NUM> are moved from position A to position B, the displacements of the permanent magnet <NUM> in the x and y directions are Δx and Δy, and the compensation angle α of the <NUM>-DOF rotary platform <NUM> is calculated as
<MAT>.

In the embodiment, the <NUM>-DOF rotary platform <NUM> and the permanent magnet <NUM> are located at the end of the balance arm device <NUM> and the mechanical arm <NUM>. When the <NUM>-DOF rotary platform <NUM> is moved horizontally, the permanent magnet <NUM> has a deflection to the geodetic coordinate system. To prevent the permanent magnet <NUM> from deflection to the geodetic coordinate system, the horizontal deflection angle of the permanent magnet <NUM> is compensated. When the magnetic sensor array detects a certain horizontal movement direction of the permanent magnet <NUM>, the horizontal orientation of the magnet NS pole should be consistent with the horizontal movement direction. At this time, the permanent magnet <NUM> will rotate from the original horizontal angle to the movement direction angle, and during rotation, the deflection of the permanent magnet <NUM> to the geodetic coordinate system is compensated. The compensated deflection angle of the permanent magnet <NUM> is a negative deflection angle of the <NUM>-DOF rotary platform <NUM>.

When the capsule endoscope is at the lower gastric wall of the subject, the tangential direction of the permanent magnet <NUM> rotating away from the lower gastric wall is opposite to the movement direction of the permanent magnet <NUM>. When the capsule endoscope is at the upper gastric wall of the subject, the tangential direction of the permanent magnet <NUM> rotating away from the upper gastric wall is consistent with the movement direction of the permanent magnet <NUM>. The speed of rotation and movement of the permanent magnet <NUM> follows: v=ω*L, wherein v is the average movement speed of the permanent magnet <NUM>, ω is the average rotation angular speed of the permanent magnet <NUM>, and L is the length of the capsule endoscope.

Referring to <FIG>, which show schematic views of movement of the capsule endoscope at the upper gastric wall under the control of the permanent magnet <NUM> rotating and moving. As shown in <FIG>, when the permanent magnet <NUM> moves to the right and rotates to the right (clockwise), the capsule endoscope moves to the right and rotates to the left (counterclockwise. As shown in <FIG>, when the permanent magnet <NUM> moves to the left and rotates to the left (counterclockwise), the capsule endoscope moves to the left and rotates to the right (clockwise). That is, the movement direction of the capsule endoscope coincides with the movement direction of the permanent magnet <NUM>, and the rotation direction of the capsule endoscope is opposite to the rotation direction of the permanent magnet <NUM>.

Referring to <FIG>, which show schematic views of movement of the capsule endoscope at the lower gastric wall under the control of the permanent magnet <NUM> rotating and moving. As shown in <FIG>, when the permanent magnet <NUM> moves to the left and rotates to the right (clockwise), the capsule endoscope moves to the left and rotates to the left (counterclockwise). As shown in <FIG>, when the permanent magnet <NUM> moves to the right and rotates to the left (counterclockwise), the capsule endoscope moves to the left and rotates to the right (clockwise). That is, the rotation direction of the capsule endoscope is opposite to the rotation direction of the permanent magnet <NUM>.

In the present invention, the balance arm device <NUM> that works with the mechanical arm <NUM> to control the <NUM>-DOF rotary t platform <NUM> to drive the permanent magnet <NUM> to reach the spatial positions and rotate horizontally and vertically, thus driving the capsule endoscope to implement various movements. Main cost of the mechanical arm <NUM> is the high-precision motor that withstands large loads. Because of the advantage of the balance arm device <NUM> that ensures balance of gravity during the whole examination process, the load bearing requirement for the mechanical arm <NUM> is greatly reduced, and thereby the cost of the mechanical arm <NUM> can be dramatically lowered. Together with the advantages of the mechanical arm <NUM> that achieves accurate movement and positioning in the spatial positions, low cost and high accuracy of the entire control system <NUM> can be achieved.

The balance arm device <NUM> can be a pneumatic balance arm <NUM> that uses a balance cylinder <NUM> to balance the boom <NUM>, as shown in <FIG>, or can be a spring assisted balance arm <NUM> that uses a common spring, a coil spring or a gas spring to balance the boom <NUM>, as shown in <FIG> or <FIG>.

<FIG> shows a schematic view of the pneumatic balance arm <NUM> of <FIG>. The pneumatic balance arm <NUM> comprises a column <NUM> and a chassis <NUM> for providing support. A upper balance arm <NUM> and a lower balance arm <NUM> that are parallel to each other and have an angle to the column <NUM> are attached to the top of the column <NUM>; the balance cylinder <NUM> is fixed on a side of the column <NUM> through a hinge and is located below the upper balance arm <NUM> and the lower balance arm <NUM>, a tracheal piston of the balance cylinder <NUM> is connected to the upper balance arm <NUM> and the lower balance arm <NUM> through a hinge for providing impetus for the upper balance arm <NUM> and the lower balance arm <NUM> moving upward or downward. Under the telescopic pull of tracheal piston action of the balance cylinder <NUM>, the upper balance arm <NUM> and the lower balance arm <NUM> can deflect <NUM> degrees vertically and horizontally. That is, when the tracheal piston of the balance cylinder <NUM> contracts, the upper balance arm <NUM> and the lower balance arm <NUM> are tilted up, and when the tracheal piston of the balance cylinder <NUM> is stretched, the upper balance arm <NUM> and the lower balance arm <NUM> are lowered.

The other ends of the upper balance arm <NUM> and the lower balance arm <NUM> are connected to the rear terminal arm <NUM> and the front terminal arm <NUM>. The rear terminal arm <NUM> is located between the front terminal arm <NUM> and the upper balance arm <NUM> and lower balance arm <NUM>. Wherein, the rear terminal arm <NUM> is pivotally connected to the upper balance arm <NUM> and the lower balance arm <NUM> , and the rear terminal arm <NUM> can rotate horizontally <NUM> degrees along the pivot. The front terminal arm <NUM> and the rear terminal arm <NUM> are also pivotally connected, and the front terminal arm <NUM> can rotate horizontally <NUM> degrees along the pivot. Specifically, the rear terminal arm <NUM> or the front terminal arm <NUM> can be driven to rotate horizontally <NUM> degrees along the axis, by a human arm or mechanical arm. The boom <NUM> is perpendicularly connected to the other end of the front terminal arm <NUM>. In the embodiment, the upper balance arm <NUM>, the lower balance arm <NUM>, the rear terminal arm <NUM>, and the front terminal arm <NUM> are both rigid arms.

In the embodiment, the balance arm device <NUM> is used to balance the load weight, to reduce the force demand on the man power or the mechanical arm motor.

A control box <NUM> is also fixed on other side of the column <NUM>. The control box <NUM> is electrically connected to the balance cylinder <NUM> for controlling the cylinder piston to move up and down. Under the control of the control box <NUM>, the piston of the balance cylinder <NUM> moves up and down to drive the upper balance arm <NUM> and the lower balance arm <NUM> to move up and down in the vertical direction, and finally drive the boom <NUM> to move up and down. In this way, the rigid arm of the pneumatic balance arm <NUM> can bear the weight of the permanent magnet <NUM> fixed at the end of the boom <NUM> and overcome the gravity to move the permanent magnet <NUM> up and down, left and right, and achieve gravity balancing.

The chassis <NUM> can either be the fixed chassis shown in <FIG>, or a movable chassis (not shown in <FIG>) with wheels on the bottom. The wheels of the movable chassis can be moved and locked. A balance weight object can be configured on the movable chassis to balance the weight of the control system <NUM>, so as to avoid that the movable chassis cannot be fixed because of too large weight of the permanent magnet <NUM>.

In one embodiment, when the control system <NUM> comprises the magnetic sensor array, the magnetic sensor array is fixed on the column <NUM>.

<FIG> shows a schematic view of the mechanical arm <NUM> of <FIG>. The mechanical arm <NUM> comprises a spherical hinge <NUM> connected to the boom <NUM> of the pneumatic balance arm <NUM>. The mechanical arm <NUM> further comprises a column <NUM> and a chassis <NUM> for support purpose. The top of the column <NUM> has a first motor <NUM> and a second motor <NUM> fitted. A rear arm <NUM> is connected to the second motor <NUM>. The first motor <NUM> is used to drive the second motor <NUM> and the rear arm <NUM> to rotate in horizontal direction parallel to the chassis <NUM>, and the second motor <NUM> drives the rear arm <NUM> to rotate in vertical direction. The mechanical arm <NUM> further comprises a third motor <NUM> and a front arm <NUM>. The other end of the rear arm <NUM> is connected to the front arm <NUM> through the third motor <NUM>, and the third motor <NUM> can drive the front arm <NUM> to rotate <NUM> degrees. The other end of the front arm <NUM> is connected to the spherical hinge <NUM>. In the embodiment, the movement of the mechanical arm <NUM> is driven by the first motor <NUM>, the second motor <NUM> and the third motor <NUM>.

Specifically, as shown in <FIG>, the first motor <NUM> is fixed in the column <NUM>, and the output shaft of the first motor <NUM> is connected to the second motor <NUM>. The second motor <NUM> is fixed to the column <NUM> through a motor bracket, and the output shaft of the second motor <NUM> is coupled to the rear arm <NUM> through a bearing. The third motor <NUM> is fixed to the rear arm <NUM> by a motor bracket, and the output shaft of the third motor <NUM> is coupled to the front arm <NUM>.

The chassis <NUM> can either be the fixed chassis shown in <FIG>, or a movable chassis (not shown in <FIG>) provided with casters on the bottom. The casters of the movable chassis can be moved and locked. A balance weight can be configured on the movable chassis to balance the weight of the control system <NUM>, so as to avoid that the movable chassis cannot be fixed because of too large weight of the mechanical arm <NUM>.

In another embodiment, a base can be used to replace the column <NUM> and the chassis <NUM>. The bottom of the base is fixed, the base can either be wall-mounted that is fixed on a wall surface or ceiling-mounted that is hung and fixed on a ceiling. The first motor <NUM> and the second motor <NUM> are fitted on the top of the base.

In other embodiments, the mechanical arm <NUM> further includes a gas spring <NUM> connected to the front arm <NUM>. The gas spring <NUM> is fixedly disposed on the rear arm <NUM>. The piston rod of the gas spring <NUM> is coupled to the front arm <NUM> for driving the front arm <NUM> moving up and down to reduce the output requirement of the third motor <NUM>, as shown in <FIG>. It can be understood that in other embodiments, the gas spring <NUM> can also be fixedly disposed on other suitable components as long as the movable end thereof is coupled to the front arm <NUM> and can drive the front arm <NUM> to move.

<FIG> shows a schematic view of the <NUM>-DOF rotary platform <NUM> of <FIG>. The <NUM>-DOF rotary platform <NUM> is an electrically controlled rotary platform, comprising a first enclosure <NUM> and a second enclosure <NUM> that are connected to each other. The first enclosure <NUM> has a fourth motor <NUM> therein which provides a <NUM>-degree rotation along the longitudinal axis; the second enclosure <NUM> has a fifth motor <NUM> therein which provides a <NUM>-degree rotation along the horizontal axis. The compensation angle α of the <NUM>-DOF rotary platform <NUM> is automatically compensated by the fifth motor <NUM>.

As shown in <FIG>, the fourth motor <NUM> is connected to one end of the main shaft <NUM> via the harmonic reducer <NUM> and the coupling <NUM>, and the other end of the main shaft <NUM> is connected to the second enclosure <NUM>, and then passes through the fourth motor <NUM>. The second enclosure <NUM> is driven to rotate <NUM> degrees in the longitudinal direction. The fifth motor <NUM> is connected to the permanent magnet <NUM> via the harmonic reducer <NUM>, the synchronous wheel and the timing belt <NUM>, and further drives the permanent magnet <NUM> to rotate <NUM> degrees in the horizontal axis direction by the fifth motor <NUM>. Among them, the synchronous wheel includes a primary synchronous wheel 148a and a secondary synchronous wheel 148b.

In this way, the fifth motor <NUM> driving the <NUM>-DOF rotary platform <NUM> to rotate horizontally and the fourth motor <NUM> driving the <NUM>-DOF rotary platform <NUM> to rotate vertically are used to achieve <NUM>-DOF rotating and positioning of the permanent magnet <NUM>. The mechanical arm <NUM> works with the pneumatic balance arm <NUM> to drive the permanent magnet <NUM> connected to the boom <NUM> to move in a three-dimensional space, thereby driving the permanent magnet <NUM> to move in five degrees of freedom.

Before use, adjust the <NUM>-DOF rotary platform <NUM>, the examination bed <NUM>, and the control box <NUM> to be as horizontal as possible. Specifically, the maximum allowable ground levelness of the <NUM>-DOF rotary platform <NUM> and the examination bed <NUM> is ±<NUM>, and the ground undulation is within the allowable range of a levelness; the maximum allowable ground levelness of the control box <NUM> is ±<NUM>, and the ground undulation is within the allowable range of z levelness; the maximum allowable levelness of other unit is ±<NUM>.

<FIG> shows a schematic view of the status of the control system for the capsule endoscope <NUM> in use. As shown in <FIG>, in operation, the height of the examination bed <NUM> is H0, and the area <NUM> above the examination bed <NUM> is the lying area for the subject, and the height of the area is H1. Above the area <NUM> is the movement area of the <NUM>-DOF rotary platform <NUM> and the permanent magnet <NUM>.

<FIG> shows a schematic view of the movement area of the permanent magnet <NUM> above the subject under the control of the pneumatic balance arm <NUM>. At this time, the movement area <NUM> of the permanent magnet <NUM> is above the area <NUM> where the subject is located, as shown in <FIG>. The length of the digestive tract L1, the digestive tract width W1, and the digestive tract height H1 of the subject to be examined can be seen in <FIG>. The width W2 of the movement range <NUM> of the permanent magnet <NUM> is substantially equal to the width W1 of the digestive tract, the length L2 of the movement range <NUM> is equivalent to the length L1 of the digestive tract, and the height H2 of the movement range <NUM> is the distance from the human body to a point where the capsule endoscope in digestive tract is out of control of the permanent magnet <NUM>.

In one embodiment, <FIG> shows a schematic view of the effective reachable area of the permanent magnet under the combined action of the pneumatic balance arm <NUM> and the mechanical arm <NUM>, as examined from one side of the subject. Wherein, in one implementation, the triangular area is an area the permanent magnet can not reach. As shown in <FIG>, under the combined action of the pneumatic balance arm <NUM> and the mechanical arm <NUM>, the permanent magnet <NUM> can reach the omni-directional area around the human digestive tract. Compared to the prior art, the examinable area has been significantly expanded, which is conducive to improving the examination accuracy and range.

In another embodiment, <FIG> shows a schematic view of the effective reachable area of the permanent magnet as examined from above the subject. As shown in <FIG>, the rectangular area is a planar area formed by the digestive tract length L1 and the width W1 of the subject to be examined. The shaded area including both the circular area and the rectangular area is the effective reachable area of the permanent magnet.

In still another embodiment, <FIG> shows a top schematic view of the effective reachable area of the permanent magnet. As shown in <FIG>, the outer large circular area is the effective arrival area of the permanent magnet, and each small circle is the area that the permanent magnet can be detected when the permanent magnet moves to each detection area. Therefore, the permanent magnet <NUM> can expand detection range of the digestive tract under the action of the pneumatic balance arm <NUM> and the mechanical arm <NUM>.

<FIG> shows a schematic view of the spring assisted balance arm <NUM>. The spring assisted balance arm <NUM> comprises a base <NUM> for providing support. The base has its bottom fixed, and can be wall-mounted that is fixed on a wall surface(as shown in <FIG>), or ceiling -mounted that is hung and fixed on a ceiling (not shown in <FIG>). The spring assisted balance arm <NUM> further comprises a horizontal swing arm <NUM> connected to the top of the base. The other end of the horizontal swing arm <NUM> is connected with an upper balance arm <NUM>, a lower balance arm <NUM>, and a spring <NUM> that are angled with the horizontal swing arm <NUM>. The upper balance arm <NUM> and the lower balance arm <NUM> are parallel to each other, and the spring <NUM> is used to provide impetus for the upper balance arm <NUM> and the lower balance arm <NUM> to move upward or downward through deformation thereof. Under the action of the spring <NUM>, the upper balance arm <NUM> and the lower balance arm <NUM> can move <NUM> degrees vertically and horizontally. The spring <NUM> may be a common spring, a coil spring or a gas spring.

In the present application, the common spring, the coil spring or the gas spring are used to balance the load and reduce the force demand on the man power or the mechanical arm motor. As shown in <FIG>, after the springs are deformed, spring forces F1 and F2 are generated in two directions. The spring forces F1 and F2 act on the upper balance arm and the lower balance arm, F2=sinα×F1, in common, F2 is used for balance for the load.

In other embodiment, a column is used to replace the base <NUM> for providing support to the spring assisted balance arm <NUM>, and the bottom of the chassis can be a fixed chassis or a movable chassis provided with casters on the bottom.

Wherein, the horizontal swing arm <NUM> is pivotally connected to the base <NUM>, and is also pivotally connected to the upper balance arm <NUM> and the lower balance arm <NUM>. The horizontal swing arm <NUM> can rotate <NUM> degrees horizontally along the pivot. The boom <NUM> is vertically connected to the other end of the upper balance arm <NUM>, the lower balance arm <NUM> and the spring <NUM>. In the embodiment, the upper balance arm <NUM>, the lower balance arm <NUM>, and the horizontal swing arm <NUM> are all rigid arms.

In this way, the rigid arm of the spring assisted balance arm <NUM> can bear the weight of the permanent magnet <NUM> fixed at the end of the boom <NUM> and overcome the gravity to move the permanent magnet <NUM> up and down, left and right, and achieve gravity balancing.

When the control system comprise the magnetic sensor array, the mounting position of the magnetic sensor array is determined based on the mounting position of the base <NUM>. When the base <NUM> is wall-mounted, the magnetic sensor array is also mounted on the wall surface near the base <NUM>. When the base <NUM> is ceiling-mounted, the magnetic sensor array is also mounted on the ceiling near the base <NUM>.

In the embodiment, the balance arm device <NUM> and the mechanical arm <NUM> are in a split structure. That is, the balance arm device <NUM> and the mechanical arm <NUM> are fixed to different fixing objects. The balance arm device <NUM> can be a pneumatic balance arm <NUM> or a spring assisted balance arm <NUM>. Under the premise of different fixing objects, the pneumatic balance arm <NUM> can be fixed to a column, and the spring assisted balance arm <NUM> and the mechanical arm <NUM> can be fixed to a column, a base mounted on a wall surface or a base mounted on a ceiling. The chassis of the column can be a fixed chassis or a movable chassis with wheels on the bottom. As shown in <FIG>, the pneumatic balance arm <NUM> and the mechanical arm <NUM> are fixed to different columns. As shown in <FIG>, the spring assisted balance arm <NUM> is fixed to a base mounted on a wall surface and the mechanical arm <NUM> is fixed to a column. As shown in <FIG>, the spring assisted balance arm <NUM> and the mechanical arm <NUM> are fixed to different bases mounted on different places of a wall surface. As shown in <FIG>, the spring assisted balance arm <NUM> and the mechanical arm <NUM> are fixed to different bases mounted on different places of a ceiling.

In other embodiment, the balance arm device <NUM> and the mechanical arm <NUM> are in an integrated structure. That is, the balance arm device <NUM> and the mechanical arm <NUM> are fixed to a same fixing object. The balance arm device <NUM> can be a pneumatic balance arm <NUM> or a spring assisted balance arm <NUM>. Under the premise of same fixing object, the pneumatic balance arm <NUM> can be fixed to a column, and the spring assisted balance arm <NUM> and the mechanical arm <NUM> can be fixed to a column, a base mounted on a wall surface or a base mounted on a ceiling. The chassis of the column can be a fixed chassis or a movable chassis with wheels on the bottom. As shown in <FIG>, the spring assisted balance arm <NUM> and the mechanical arm <NUM> are fixed to a same column, and the column is a movable chassis with wheels on the bottom.

Compared to the prior art, in the present invention, firstly, the main load carried by the mechanical arm <NUM> is heavy high-precision motors (the first motor, the second motor and the third motor), and the gravity of the <NUM>-DOF rotary platform <NUM> and the permanent magnet <NUM> is entirely supported by the balance arm device <NUM>, which can greatly reduce the load on the mechanical arm <NUM>, avoid high cost of the motor bearing due to the use of the mechanical arm <NUM> alone, and thereby substantially lower the cost of precision mechanical arm <NUM>.

Secondly, the present invention provides a balance arm device <NUM> which solves the vertical and horizontal movement of the permanent magnet <NUM> in the area above the subject. The mechanical arm <NUM> can drive the boom <NUM> of the balancing arm <NUM> to rotate, thereby driving the permanent magnet <NUM> to realize accurate positioning with no dead corner in the entire area above the digestive tract of the subject, improving examination accuracy.

Further, the <NUM>-DOF rotary platform <NUM> drives the permanent magnet <NUM> to rotate horizontally and vertically, providing a <NUM>-DOF rotation positioning in the horizontal and vertical directions.

As a result, the control system for the capsule endoscope <NUM> uses a balance arm device in combination with a mechanical arm to control spatial positions of the <NUM>-DOF rotary platform, thus to provide a <NUM>-DOF movement range; the mechanical arm can also achieve accurate moving and positioning in the spatial positions , thereby realizing low-cost and high-precision of the entire control system.

In addition, in combination with the <NUM>-DOF rotary platform, the control system for the capsule endoscope disclosed in the present invention realizes a simple transfer of human-permanent magnet or human-console-permanent magnet, which makes the system simpler, and enables the permanent magnet to move in the area around the subject, more fitting to the human body, so that the control of the capsule endoscope is more direct and effective.

Claim 1:
A control system (<NUM>) for a capsule endoscope, comprising:
a balance arm device (<NUM>), a mechanical arm (<NUM>), a permanent magnet (<NUM>) and a <NUM>-DOF rotary platform (<NUM>);
wherein
a bottom of the balance arm device (<NUM>) is fixed, and an active end of the balance arm device (<NUM>) connects with a boom (<NUM>);
a bottom of the mechanical arm (<NUM>) is fixed, and an active end of the mechanical arm (<NUM>) connects with a spherical hinge (<NUM>);
the <NUM>-DOF rotary platform (<NUM>) is fixed at an end of the boom (<NUM>) away from the active end of the balance arm device (<NUM>);
the permanent magnet (<NUM>) is located in the <NUM>-DOF rotary platform (<NUM>);
the spherical hinge (<NUM>) connects to the boom (<NUM>), assisting the permanent magnet (<NUM>) to move around an area around a subject.