WO2022198975A1 - Medical apparatus guidance and control system and method therefor - Google Patents

Abstract

A medical apparatus guidance and control system and a method therefor, which are used to solve the technical problems of real-time feedback of a control system and effective image diagnosis. The medical apparatus guidance and control system comprises a medical apparatus (1) and a magnetic control mechanism (2), wherein a flexible cable (3) is fixedly connected to the medical apparatus (1), and the flexible cable (3) can supply power to the medical apparatus (1) and/or transmit information collected by the medical apparatus (1). The flexible cable (3) supplies power to the medical apparatus (1) and transmits data, such that the medical apparatus (1) can have the capability of supplying power for a long time, so that a test time is sufficient. In addition, when the flexible cable (3) performs wired data transmission, a data transmission rate can reach 700 Mbps, such that a higher transmission speed is achieved, higher-resolution real-time images and a higher video frame rate can be provided, and a better clinical test effect is brought.

Description

Medical device guidance and control system and method

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent application CN202110322258.3 filed on March 25, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present invention relates to the technical field of medical devices, and in particular, to a medical device guidance and control system and method.

Background technique

Medical devices that enter the body cavity of the subject, such as capsule endoscope, are an effective new technology for gastric diagnosis. At present, there are many studies on the active driving mechanism of capsule endoscope, and the driving mechanism generally includes peristaltic, motor, piezoelectric, magnetostrictive, memory alloy, bionic electrostatic driving and electromagnetic driving.

The control scheme of the existing mature magnetron capsule endoscope is to use the permanent magnet outside the subject to attract the permanent magnet inside the magnetron capsule endoscope, so that the tail end of the magnetron capsule endoscope is close to the stomach wall, and the end of the magnetron capsule endoscope is close to the stomach wall. The stomach wall acts as a support point for movement. A mechanical device is used to drive the external permanent magnet to rotate, so that the angle of the capsule endoscope relative to the stomach wall changes back and forth, so as to observe the stomach wall. In this scheme, the attractive force between the external permanent magnet and the permanent magnet in the capsule is greatly affected by the distance, resulting in inflexible control and low precision.

Chinese patent CN200480003501.X discloses the use of a three-dimensional rotating magnetic field to drive a capsule with helical protrusions, which drives the capsule to spiral forward in the human intestine by controlling the strength and direction of the external magnetic field. However, using the device in this way consumes a lot of energy, and the rotating friction of the capsule in the intestine may cause tissue adhesion. China CN211511733U discloses a method of using the change of a pair of induction coil currents to drive a magnetron capsule to perform a shuttle reentrant movement in the stomach, the movement process is too complicated, and there may be cases of missed diagnosis. In addition, the stomach wall will be used as a stable support during the capsule shooting process, and the magnetic control force will cause a certain pressure on the stomach wall.

The existing magnetron capsule endoscopes all use wireless transmission for data transmission. Therefore, the magnetron capsule endoscope is limited by battery capacity and radio frequency transmission quality, and its transmission efficiency does not exceed 10 frames per second. The resolution is lower than 400X400dpi, which greatly affects the real-time feedback of the control system and the effectiveness of image diagnosis.

SUMMARY OF THE INVENTION

The present invention provides a medical device guidance and control system for solving the technical problems of the real-time feedback of the control system and the effectiveness of image diagnosis.

According to a first aspect of the present invention, the present invention provides a medical device guidance and control system, comprising:

A medical device for placing in a body cavity of a subject and obtaining information about a specified location in the body cavity; and

a magnetic control mechanism for generating a magnetic field outside the subject and exerting a force on the medical device, and the medical device moves in a designated direction under the action of multiple forces;

Wherein, a flexible cable is fixedly connected to the medical device, and the flexible cable can provide power to the medical device and/or transmit information collected by the medical device.

In one embodiment, the flexible cable is coiled on the wire take-up and release mechanism, one end of the flexible cable is connected to the fixing structure at the end of the medical device, and the other end of the flexible cable is connected to the connector , the take-up and pay-out mechanism is used to extend or contract the flexible cable.

In one embodiment, the magnetron mechanism includes a first coil group, a second coil group and a third coil group;

The first coil group is disposed along the axial direction of the subject's body, and is used to generate a gradient magnetic field or a magnetic field with uniform intensity along the axial direction of the subject's body;

The second coil group and the third coil group are respectively distributed around the body of the subject, for generating a gradient magnetic field or a magnetic field with uniform intensity;

Wherein, the change of the current intensity and/or direction in the first coil group, the second coil group and the third coil group can control the change of the posture and position of the medical device.

In one embodiment, the magnetron control mechanism further comprises a solenoid coil axially arranged around the body of the subject, which is used to generate a magnetic field with uniform intensity; the solenoid coil is arranged on the first coil within the space enclosed by the group, the second coil group and the third coil group;

The magnitude and/or direction of the current in the solenoid coil is changed to control the rotational orientation of the medical device along the body axis of the subject.

In one embodiment, the first coil group, the second coil group, the third coil group, and the solenoid coil are respectively connected to separate power supplies, and each power supply communicates with the control system through the RS485 serial port protocol. connected.

In one embodiment, the magnetron mechanism further comprises an examination channel for passing a movable examination couch carrying a subject.

In one embodiment, the medical device is a magnetron capsule endoscope.

In one embodiment, the magnetron capsule endoscope is provided with an image processing system, the image processing system includes a camera capable of acquiring real-time images and a processor, and the processor converts the serial digital data acquired by the camera The signal is processed and sent to the display via a flexible cable.

In one embodiment, a permanent magnet is provided inside the magnetron capsule endoscope, and the polarization direction of the permanent magnet is parallel to the axial direction of the magnetron capsule endoscope.

According to a second aspect of the present invention, the present invention provides a method for the above-mentioned medical device guidance and control system, comprising the following operation steps:

Step 101: placing the medical device in the body cavity of the subject;

Step 102: causing the first coil group to generate a gradient magnetic field along the axial direction of the subject's body, so as to move the medical device;

Step 103: Determine whether the medical device has left the first position, if yes, go to Step 104; if not, go back to Step 102;

Step 104 : generating a magnetic field with uniform intensity in the second coil group and the third coil group, and extending the flexible cable, so that the medical device performs a helical motion to scan the body cavity of the subject;

Step 105: Determine whether the medical device has reached the second position, if yes, go to Step 106, if not, go back to Step 104;

Step 106: causing the second coil group to generate a gradient magnetic field, and extending the flexible cable, so as to move the medical device;

Step 107: Determine whether the medical device has reached the third position, if yes, go to Step 108, if not, go back to Step 106;

Step 108: causing the second coil group and the third coil group to generate a magnetic field with uniform strength, and shrinking the flexible cable, so that the medical device performs a helical motion again to scan the body cavity of the subject;

Step 109: Determine whether the medical device returns to the first position, if yes, go to Step 110; if not, go back to Step 108;

Step 110: Retract the flexible cable so that the medical device leaves the body cavity of the subject.

Compared with the prior art, the advantages of the present invention are:

(1) Power supply and data transmission to the medical device through the flexible cable can make the medical device have the ability to supply power for a long time, so that the inspection time is sufficient; and when the flexible cable is used for wired data transmission, the data transmission rate can reach 700Mbps. With a faster transmission speed, it can provide higher-resolution real-time images and a faster video frame rate, bringing better clinical detection results.

(2) Through the control of the medical device by the magnetic control mechanism, the medical device entering the stomach can stay at any position and move freely at multiple angles, and the running trajectory of the capsule endoscope can be accurately and automatically controlled in the liquid-filled stomach. The system and method can clearly photograph the stomach wall without dead angle, realize all-angle observation of stomach examination or operation process, and improve the accuracy of clinical diagnosis.

Description of drawings

Hereinafter, the invention will be described in more detail on the basis of examples and with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a use state of a medical device guidance and control system in an embodiment of the present invention;

2 is a perspective view of a medical device guidance and control system in an embodiment of the present invention;

Figures 3 and 4 are perspective views of a medical device guidance and control system with a concealed housing in an embodiment of the present invention;

5 is a schematic structural diagram of a flexible cable in an embodiment of the present invention;

6 is a schematic structural diagram of a medical device in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the force of the medical device in the body cavity of the subject according to the embodiment of the present invention;

8 is a schematic diagram of a medical device entering a body cavity of a subject in accordance with an embodiment of the invention;

9 is a flowchart of a medical device guidance and control method in an embodiment of the present invention;

Fig. 10 is a block diagram showing the connection relationship of each component of the medical device guidance and control system in the embodiment of the present invention.

Reference number:

1-medical device; 11-permanent magnet; 12-camera; 13-fixed structure;

2-magnetic control mechanism; 21-first coil group; 22-second coil group; 23-third coil group; 24-solenoid coil; 25-check channel; 26-case;

211-first coil; 221-second coil; 231-third coil;

3-flexible cable; 31-reeling and releasing mechanism; 32-connector

4 - Subject;

5- Movable examination bed;

A1-first position; A2-second position; A3-third position.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in FIGS. 1-8 , according to a first aspect of the present invention, the present invention provides a medical device guidance and control system, comprising a medical device 1 and a magnetic control mechanism 2 , and the medical device 1 is used to be placed on a subject 4 . into a body cavity and obtain information on a specified location within the body cavity. The magnetic control mechanism 2 is used to generate a magnetic field outside the subject 4 and apply a force to the medical device 1 , and the medical device 1 can move in a designated direction under the action of multiple forces.

The flexible cable 3 is fixedly connected to the medical device 1 , and the flexible cable 3 can provide the medical device 1 with electrical energy and/or transmit the information of the designated location collected by the medical device 1 . Specifically, the flexible cable 3 includes a multi-strand cable, and some of the cables (power supply system) provide power to the medical device 1, and the flexible cable 3 provides power to the medical device 1, so that the medical device 1 can have an ultra-long time The power supply capacity is sufficient, so the inspection time can be very sufficient; while the other part of the cable provides data transmission for the serial digital signal collected by the medical device 1, and the data can be transmitted by wire through the flexible cable 3, and the data transmission rate can reach 700Mbps. Compared with the transmission rate of traditional wireless radio frequency (4Mbps), the data transmission through the flexible cable 3 can have a faster transmission speed. for better clinical testing results.

The medical device 1 may be a capsule-type medical device, such as a magnetron capsule endoscope, which can enter the stomach of the subject 4 to scan and shoot to obtain a real-time image of the stomach.

Hereinafter, the present invention will be described in detail by taking the medical device 1 as a magnetron capsule endoscope as an example.

As shown in FIGS. 5 and 6 , the flexible cable 3 is coiled on the wire retracting mechanism 31 , one end of the flexible cable 3 is connected to the fixing structure 13 at the end of the medical device 1 , and the other end of the flexible cable 3 is connected to the connector 32 Connected, the take-up and pay-out mechanism 31 is used to extend or contract the flexible cable 3 . The fixing structure 13 may be any known structure capable of connecting the flexible cable 3 to the medical device 1 . For example, a mechanical connection structure, a welded layer structure or an adhesive layer structure, etc.

The flexible cable 3 is stretched by the driving of the retracting and unwinding mechanism 31 , so that the end connected with the medical device 1 can be kept away from the retracting and unwinding mechanism 31 , so that the medical device 1 can enter the stomach of the subject 4 more deeply , so as to reach the specified position. The flexible cable 3 is retracted by the drive of the retractable and unwinding mechanism 31 , and the end connected with the medical device 1 can be brought close to the retracting and unwinding mechanism 31 , so that the medical device 1 can be returned from the stomach of the subject 4 to a designated position or to the outside of the subject 4 . Therefore, the length of entering the subject 4 can be controlled through the flexible cable 3, and combined with the changing magnetic field generated by the external magnetic control mechanism 2, so that the body cavity (such as the esophagus and stomach) of the subject 4 can be fully automated. Scan to shoot.

It should be noted that, since the flexible cable 3 is formed by wrapping a very soft plastic on the outside of the wire or cable, its bending stress is very small, so the influence on the force of the magnetic control mechanism 2 to control the medical device 1 is weak. .

As shown in FIGS. 1-4 , the magnetron mechanism 2 includes a casing 26 and a first coil group 21 , a second coil group 22 and a third coil group 23 which are arranged inside the casing 26 and are orthogonal to each other in space. The first coil group 21 is disposed along the body axis of the subject 4 for generating a gradient magnetic field or a magnetic field with uniform strength along the body axis direction of the subject 4 . The second coil group 22 and the third coil group 23 are respectively distributed around the body of the subject 4 for generating a gradient magnetic field or a magnetic field with uniform intensity.

Among them, the medical treatment located in the body of the subject 4 can be controlled by changing the intensity and/or direction of the current in the first coil set 21 , the second coil set 22 and the third coil set 23 located outside the body of the subject 4 . Changes in the posture and position of the device 1 .

Specifically, the first coil group 21 may be provided with at least two first coils 211 . As shown in FIG. 4 , the two first coils 211 are disposed opposite to each other in the Z direction. The Z direction is the axial direction of the body of the subject 4 (ie, the direction from the feet to the head of the subject 4 ). Wherein, when the currents in the two first coils 211 are in the same direction, a magnetic field with uniform intensity is generated; when the currents in the two first coils 211 are in opposite directions, a gradient magnetic field is generated. Likewise, the second coil set 22 may be provided with at least two second coils 221 , and the two second coils 221 are disposed opposite to each other in the X direction, where the X direction is a direction along the left arm to the right arm of the subject 4 . Wherein, when the currents in the two second coils 221 are in the same direction, a magnetic field with uniform intensity is generated; when the currents in the two second coils 221 are in opposite directions, a gradient magnetic field is generated. The third coil group 23 may be provided with at least two third coils 231 , and the two third coils 231 are disposed opposite to each other in the Y direction, where the Y direction is a direction from the back to the face of the subject. Wherein, when the currents in the two third coils 231 are in the same direction, a magnetic field with uniform intensity is generated; when the currents in the two third coils 231 are in opposite directions, a gradient magnetic field is generated.

Therefore, the fact that the first coil group 21 , the second coil group 22 and the third coil group 23 are orthogonal to each other in space refers to the connection line between the two first coils 211 , the connection line between the two second coils 221 and the two third coils 211 . The connecting lines of the three coils 231 are perpendicular to each other. In other words, the above-mentioned X direction, Y direction and Z direction are the three coordinate axis directions of the space rectangular coordinate system.

Further, the magnetic control mechanism 2 also includes a solenoid coil 24 axially arranged around the body of the subject 4, which is used to generate a magnetic field with uniform intensity; the solenoid coil 24 is located in the first coil group 21, the second coil In the space enclosed by the group 22 and the third coil group 23 . As shown in FIG. 4 , both ends of the solenoid coil 24 are located between the two first coils 211 so that the axial direction thereof is along the Z direction; and the circumferential side of the solenoid coil 24 is located between the two second coils 211 . In the substantially annular space enclosed by the coil 221 and the two third coils 231 .

In use, the magnitude and/or direction of the current in the solenoid coil 24 is changed to control the rotational orientation of the medical device 1 within the subject 4 in the axial direction of the body of the subject 4 .

The first coil group 21, the second coil group 22, the third coil group 23 and the solenoid coil 24 are respectively connected with a separate power supply (programmed power supply), and each power supply is connected with the control system (control computer) through the RS485 serial port protocol, And each power supply is connected with the power supply system. Each power supply executes the strength and direction of the output current according to computer instructions.

The intensity and direction of the magnetic field generated by the corresponding coil group can be changed by controlling the change in the intensity and direction of the current passing through each coil by the control system. For example, the first coil set 21 can generate a gradient magnetic field along the body axial direction of the subject 4 , so that the movement of the medical device 1 in the body cavity of the subject 4 along the body axial direction can be controlled. The second coil group 22 and the third coil group 23 can generate a magnetic field (or gradient magnetic field) with uniform intensity, so that the medical device 1 can be controlled to rotate (or move) around the body in the body cavity of the subject 4 . When the strength and direction of the current passing through the solenoid coil 24 changes, the strength and direction of the magnetic field within the coil also changes, so that the rotational orientation of the medical device 1 along the body axis of the subject 4 can be controlled.

As shown in FIG. 7 , a schematic diagram of the force exerted by the medical device 1 in the body cavity of the subject 1 is shown. Since the medical device 1 is used in the stomach environment filled with liquid, it is subject to the buoyancy F of the liquid. The end of the medical device 1 is connected with the flexible cable 3 , so it is pulled by the pulling force F of the flexible cable 3 . The magnetic control mechanism 2 provides the medical device 1 with a magnetic force F magnetic to drive the medical device 1 to move and provides the medical device 1 with a magnetic torque T magnetic to drive the medical device 1 to rotate. In addition, the medical device 1 itself is subjected to the action of its own gravity G. The above-mentioned multiple acting forces are combined to control the movement of the medical device 1 in a specified direction.

As shown in FIGS. 1 and 2 , the magnetron mechanism 2 further includes an examination channel 25 for passing the movable examination couch 5 carrying the subject 4 therethrough. The subject 4 needs to lie down on the movable examination bed 5 after swallowing the medical device 1 . By moving the movable examination bed 5 , the stomach of the subject 4 can be placed within the coverage of the magnetic field of the magnetron mechanism 2 .

As shown in FIG. 6 , an image processing system is provided inside the medical device 1 (magnetron capsule endoscope), and the image processing system is connected to the cable for providing data transmission in the flexible cable 3 . The image processing system includes a camera 12 capable of acquiring real-time images and a processor, and the processor processes the serial digital signal acquired by the camera 12 and sends it to the display through the flexible cable 3 . The connector 32 can be connected to the display screen of the control end, so as to transmit the data collected by the medical device 1 to the display screen by means of wired transmission.

In addition, the interior of the magnetron capsule endoscope is further provided with a permanent magnet 11, and the polarization direction of the permanent magnet 11 is parallel to the axial direction of the magnetron capsule endoscope. Under the influence of the magnetic field generated by the magnetron mechanism 2 , the permanent magnet 11 can provide torque and magnetic force to the magnetron capsule endoscope to make it rotate, move, and orient in the stomach of the subject 4 .

The magnetic control mechanism 2 of the present invention can generate a uniform magnetic field in any direction and a gradient magnetic field along the body axis direction of the subject 4 through the electromagnetic coil. The magnetron mechanism 2 changes the strength and gradient of the magnetic field and the spatial angle by changing the strength and direction of the current passing through each coil, so as to apply the magnetic force and magnetic torque to the permanent magnet 11 in the magnetron capsule endoscope to control the received magnetic field. The magnetic control capsule endoscope in the body cavity of the subject 4 rotates, moves and orients in the body cavity, thereby realizing the stay at any position and multi-angle free movement of the medical device 1 entering the body cavity of the subject 4 . At the same time, by controlling the length of the flexible cable 3 entering the body cavity of the subject 4 through the wire retracting mechanism 31, the esophagus and stomach of the subject 4 can be automatically scanned and photographed in an all-round way, thereby realizing gastric examination. Or observe from all angles during surgery.

Therefore, the magnetic control mechanism 2 of the present invention generates a superimposed uniform magnetic field and a gradient magnetic field through a plurality of electromagnetic coil groups. Compared with the existing mechanical structure driving a permanent magnet to control the movement of the medical device, the magnetic control mechanism 2 of the present invention The movement speed of the medical device 1 can be made faster, the control precision thereof can be higher, and the experience for the subject 4 can be better.

As shown in FIGS. 9 and 10 , the present invention provides a method for the above-mentioned medical device guidance and control system, which includes the following operation steps.

Step 101 : The subject 4 swallows the medical device 1 to place the medical device 1 in the body cavity (esophagus) of the subject 4 .

Step 102 : Make the first coil group 21 (Z-axis coil group) generate a gradient magnetic field along the body axial direction of the subject 4 to move the medical device 1 .

Step 103 : determine whether the medical device 1 leaves the first position A1 (cardia), if yes, go to Step 104 ; if not, go back to Step 102 .

Step 104: Make the second coil group 22 (X-axis coil group) and the third coil group 23 (Y-axis coil group) generate a magnetic field with uniform intensity, and extend the flexible cable 3, so that the medical device 1 can be a helix The movement is traced to scan the body cavity (entire stomach space) of the subject 4 .

Step 105 : Determine whether the medical device 1 has reached the second position A2 (gastric antrum), if yes, go to Step 106 , if not, go back to Step 104 .

Step 106 : The second coil group 22 (X-axis coil group) generates a gradient magnetic field, and the flexible cable 3 is extended to move the medical device 1 .

Step 107 : Determine whether the medical device 1 has reached the third position A3 (pylorus). If yes, go to Step 108 , if not, go back to Step 106 .

Step 108: Make the second coil group 22 (X-axis coil group) and the third coil group 23 (Y-axis coil group) generate a magnetic field with uniform intensity, and shrink the flexible cable 3, so that the medical device 1 is made a spiral again The movement is traced to scan the body cavity (entire stomach space) of the subject 4 .

Step 109 : determine whether the medical device 1 returns to the first position A1 (cardia), if yes, go to Step 110 ; if not, go back to Step 108 .

Step 110: The medical device 1 enters the esophagus of the subject 4, and the flexible cable 3 is retracted, so that the medical device 1 leaves the body cavity (esophagus) of the subject 4 and ends.

As shown in FIG. 9 and in conjunction with FIG. 8 , a method example of the present invention will be described.

First, the automatic control process for the magnetic control mechanism 2 to control the medical device 1 (magnetic control capsule endoscope) to enter the stomach is as follows. The subject 4 swallows the medical device 1, so that the first coil set 21 (Z-axis coil set) generates a gradient magnetic field along the axial direction of the subject 4's body, thereby guiding the medical device 1 through the esophagus of the subject 4 and passing through the esophagus of the subject 4. into its stomach.

After entering the stomach, determine whether the medical device 1 leaves the cardia by observing the display. If it leaves the cardia, the second coil group 22 (X-axis coil group) and the third coil group 23 (Y-axis coil group) generate a uniform magnetic field, And the flexible cable 3 is extended, so that the medical device 1 can perform a helical motion while scanning the entire stomach space, and can enter the lower part of the stomach. If the medical device 1 does not leave the cardia, continue to move the medical device 1 under the action of the gradient magnetic field generated by the first coil group 21 .

As the medical device 1 continues to penetrate deep into the stomach, it is determined by viewing the display whether the medical device 1 reaches the gastric antrum. If the gastric antrum is reached, the second coil group 22 (X-axis coil group) generates a gradient magnetic field, and the flexible cable 3 is extended to move the medical device 1 while capturing images, and continue to enter the lower part of the stomach.

As the medical device 1 continues to penetrate deep into the stomach, it can be determined by viewing the display whether the medical device has reached the pylorus. If the pylorus is reached, it means that the medical device 1 has completed the stomach scan, and the operation of exiting the stomach is performed; if the pylorus is not reached, the medical device 1 is moved by extending the second coil group 22 and the flexible cable 3 .

The automatic control process for the magnetic control mechanism 2 to control the medical device 1 (magnetic control capsule endoscope) to exit the stomach is as follows. After the medical device 1 reaches the pylorus, the second coil group 22 (X-axis coil group) and the third coil group 23 (Y-axis coil group) generate a uniform magnetic field, and the flexible cable 3 is contracted to make the flexible cable 3 . The length is shortened so that the medical device 1 scans the entire stomach space again in a helical motion until the fundus is approached.

When the medical device 1 approaches the stomach fundus, it continues to move and returns to the cardia. Determine whether the medical device 1 returns to the cardia by observing the display, and if not, continue to return the medical device 1 by retracting the second coil group 22 , the third coil group 23 and the flexible cable 3 . If the medical device 1 has returned to the cardia, observe the cardia and continue to contract the flexible cable 3 to shorten the length of the flexible cable 3, so that the medical device 1 is withdrawn from the stomach and esophagus of the subject 4, and the operation is ended.

While the present invention has been described with reference to the preferred embodiments, various modifications may be made and equivalents may be substituted for parts thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (10)

A medical device guidance and control system, characterized in that it includes: a medical device (1) for placing in a body cavity of a subject (4) and acquiring information on a designated position in the body cavity; and A magnetic control mechanism (2) for generating a magnetic field outside the subject (4) and applying a force to the medical device (1), the medical device (1) following a specified direction under the action of multiple forces to exercise; Wherein, a flexible cable (3) is fixedly connected to the medical device (1), and the flexible cable (3) cable can provide the medical device (1) with electrical energy and/or transmit the medical device (1) collected information. The medical device guidance and control system according to claim 1, characterized in that, the flexible cable (3) is coiled on the wire take-up and pay-out mechanism (31), and one end of the flexible cable (3) is connected to the The fixing structure (13) at the end of the medical device (1) is connected, the other end of the flexible cable (3) is connected with the connector (32), and the wire retracting mechanism (31) is used to make the flexible wire The cable (3) is extended or retracted. The medical device guidance and control system according to claim 1 or 2, wherein the magnetic control mechanism (2) comprises a first coil group (21), a second coil group (22) and a third coil group ( twenty three); The first coil (21) group is disposed along the body axis of the subject (4), and is used to generate a gradient magnetic field or a magnetic field with uniform intensity along the body axial direction of the subject (4); The second coil group (22) and the third coil group (23) are respectively distributed around the body of the subject (4) for generating a gradient magnetic field or a magnetic field with uniform intensity; Wherein the medical device (1) can be controlled by changing the intensity and/or direction of the current in the first coil set (21), the second coil set (22) and the third coil set (23) changes in posture and position. The medical device guidance and control system according to claim 3, wherein the magnetic control mechanism (2) further comprises a solenoid coil (24) axially arranged around the body of the subject (4), which For generating a magnetic field with uniform intensity; the solenoid coil (24) is arranged around the first coil group (21), the second coil group (22) and the third coil group (23) into the space; The magnitude and/or direction of the current in the solenoid coil (24) is varied to control the rotational orientation of the medical device (1) along the body axis of the subject (4). The medical device guidance and control system according to claim 4, wherein the first coil group (21), the second coil group (22), the third coil group (23) and the The solenoid coils (24) are respectively connected with separate power sources, and each power source is connected with the control system through the RS485 serial port protocol. The medical device guidance and control system according to claim 1 or 2, characterized in that, the magnetic control mechanism (2) further comprises an inspection channel (25), and the inspection channel (25) is used to make the device carrying the inspected The movable examination bed (5) of the person (4) passes through. The medical device guidance and control system according to claim 1 or 2, wherein the medical device (1) is a magnetron capsule endoscope. The medical device guidance and control system according to claim 7, wherein an image processing system is provided in the magnetron capsule endoscope, and the image processing system comprises a camera (12) capable of acquiring real-time images and a processing The processor, after processing the serial digital signal obtained by the camera (12), sends it to the display through the flexible cable (3). The medical device guidance and control system according to claim 7, wherein a permanent magnet (11) is provided inside the magnetron capsule endoscope, and the polarization direction of the permanent magnet (11) is parallel to the The axial direction of the magnetron capsule endoscope. A method for the medical device guidance and control system according to any one of claims 1-9, characterized in that it comprises the following operation steps: Step 101: placing the medical device (1) in the body cavity of the subject (4); Step 102: causing the first coil (21) group to generate a gradient magnetic field along the axial direction of the body of the subject (4), so as to move the medical device (1); Step 103: determine whether the medical device (1) leaves the first position (A1), if so, go to step 104; if not, return to step 102; Step 104: Make the second coil group (22) and the third coil group (23) generate a magnetic field with uniform intensity, and make the flexible cable (3) elongate, so that the medical device (1) performs a helical motion to scanning the body cavity of the subject (4); Step 105: Determine whether the medical device (1) has reached the second position (A2), if so, execute step 106, if not, return to step 104; Step 106: causing the second coil group (22) to generate a gradient magnetic field, and extending the flexible cable (3), so as to move the medical device (1); Step 107: Determine whether the medical device (1) has reached the third position (A3), if so, go to Step 108, if not, return to Step 106; Step 108: Make the second coil group (22) and the third coil group (23) generate a magnetic field of uniform intensity, and shrink the flexible cable (3), so that the medical device (1) performs a helical motion again to scanning the body cavity of the subject (4); Step 109: Determine whether the medical device (1) returns to the first position (A1), if yes, go to Step 110; if not, go back to Step 108; Step 110: Retract the flexible cable (3) so that the medical device (1) leaves the body cavity of the subject (4).

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