CN114052635A - Coupling positioning device, mechanical arm, positioning system and capsule endoscope system - Google Patents
Coupling positioning device, mechanical arm, positioning system and capsule endoscope system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- A—HUMAN NECESSITIES
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Abstract
The invention belongs to the technical field of capsule endoscopes, and particularly discloses a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system. By adopting the technical scheme, the position of the human body relative to the mechanical arm is determined by matching the coupling positioning device with the mechanical arm, and meanwhile, the relative position of the capsule in the human body is obtained.
Description
Technical Field
The invention belongs to the technical field of medical instrument positioning, and relates to a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system.
Background
Digestive tract diseases have become one of the major killers threatening human health, and physicians using endoscopy to examine certain areas within the digestive tract have enabled problems to be discovered early, avoiding the digestive tract diseases from worsening. However, the traditional endoscope is easy to cause tissue damage and physiological discomfort to patients due to the mechanical connection and power mode, and the capsule endoscope is produced to solve the problem.
The capsule endoscope is swallowed by a subject and enters the alimentary canal, an image acquisition device is integrated on the capsule and used for acquiring images of the tissues of the alimentary canal, and a multi-degree-of-freedom mechanical arm device provided with a magnetic device is arranged outside the magnetic control capsule endoscope and used for controlling the motion of the capsule in the body. At present, the position relation of the capsule relative to the mechanical arm positioning system is determined in various ways, but the position relation of the human body relative to the mechanical arm is not solved well, so that the relative position of the capsule in the human body cannot be further known.
Disclosure of Invention
The invention aims to at least overcome the defect that the human body cannot be positioned in the prior art, and particularly provides a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a coupling positioning device, comprising a fixing device and a coupling positioning device body connected with the fixing device, wherein the fixing device is used for fixing the coupling positioning device body on the surface of a human body; the coupling positioning device body comprises a first detection part, and the first detection part sends a positioning detection signal or receives the positioning detection signal and transmits the positioning detection signal to the controller.
The fixing device fixes the coupling positioning device body at a certain position on the surface of a human body, realizes the positioning of the coupling positioning device body and is convenient for detection and positioning. Meanwhile, the first detection part can receive or send a detection signal and transmit a position signal, so that the positioning operation is smoothly carried out.
In a preferred embodiment of the present invention, the fixing device comprises an elastic strap, the elastic strap is provided with a strap adjusting mechanism, and the coupling positioning device body is arranged on the elastic strap.
The coupling positioning device body is fixed on the surface of a human body through the elastic lace, the structure is simple, the elastic lace has elasticity, and the coupling positioning device can be stretched and used for people with different body types. The elastic lace is fixed by adjusting the position of the elastic lace by the lace adjusting mechanism.
In another preferred embodiment of the present invention, the lace adjusting mechanism includes fixed buckles disposed at two ends of the elastic lace, or the lace adjusting mechanism includes fixed buckles disposed on one side of the elastic lace, and a slot disposed on the other side of the elastic lace; the coupling positioning device body is fixedly arranged on the elastic strap or movably arranged with adjustable position.
The fixing buckle controls the connection of the elastic lace, and the structure is simple, and the manufacture and the use are easy. The coupling positioning device body can be fixedly arranged on the elastic lacing, so that misoperation of the coupling positioning device body is avoided when the elastic lacing is positioned. The coupling positioning device body can also be movably arranged on the elastic strap, and when the position positioning of the coupling positioning device body needs to be adjusted, the coupling positioning device body can be directly controlled to slide on the elastic strap to adjust the position, so that the operation is simple and convenient.
In yet another preferred embodiment of the present invention, an elastic buffer material is disposed on a side of the coupling positioning device body close to the surface of the human body, a pressure sensor is disposed inside the elastic buffer material, and an output end of the pressure sensor is connected to the warning system.
The elastic buffer material is attached to the human body, so that the body of the coupling positioning device is prevented from being directly in hard contact with the human body to cause collision discomfort to the human body; meanwhile, the elastic buffer material and the human body have elastic acting force and are extruded with each other, so that the elastic buffer material and the human body are connected more tightly, and the connection stability is improved. The pressure sensor detects a pressure signal at the joint, transmits the signal to the warning system, and judges whether the connection is stable or not by the warning system.
In yet another preferred embodiment of the present invention, the fixing means is an adhesive member or a suction cup.
The adhesive piece or the sucker is adopted, so that the manufacturing and the use are easy, and the structure is simple.
In a preferred embodiment of the present invention, when the first detecting part receives a signal, the first detecting part is a photoelectric sensor, and the photoelectric sensor receives a positioning detection signal and transmits the positioning detection signal to the controller; when the first detecting member is a transmitting signal, the first detecting member is a light beam transmitting mechanism.
Photoelectric sensor and light beam emission mechanism cooperation for supply manipulator positioning system to fix a position discernment, first detection component can carry out the alternative setting as required, thereby cooperates the location with the arm.
In another preferred embodiment of the present invention, the coupling positioning device body further includes a signal processing circuit and a communication circuit, and is configured to process, convert and send a signal obtained by the pressure sensor to the controller, where the signal processing circuit receives a pressure signal detected by the pressure sensor, an output end of the signal processing circuit is connected to an input end of the communication circuit, and an output end of the communication circuit is connected to the controller.
The signal processing circuit and the communication circuit can process and transmit the signal detected by the first detecting part to a required part.
In order to achieve the above object, according to a second aspect of the present invention, the present invention provides a robot arm cooperating with a coupling positioning device, wherein the coupling positioning device is the coupling positioning device of the present invention, and the robot arm is provided with a second detecting component, and the second detecting component receives a positioning detection signal of the first detecting component and transmits the positioning detection signal to a controller, or the second detecting component transmits the positioning detection signal to the first detecting component.
The second detection part can receive or send out a detection signal, is matched with the first detection part, transmits the position signal and determines the relative position of the human body and the mechanical arm.
In a preferred embodiment of the present invention, when the second detecting part receives the signal, the second detecting part is a photoelectric sensor, and the photoelectric sensor receives the positioning detection signal and transmits the positioning detection signal to the controller; when the second detecting member is a transmitting signal, the second detecting member is a light beam transmitting mechanism.
The second detection part is matched with the first detection part for use and is respectively set as a light beam emitting mechanism or a photoelectric sensor for positioning and identification.
In a further preferred embodiment of the present invention, the light beam emitting mechanism includes a light emitting device and a light collimating device connected to the light emitting device.
The light emitting device can emit light beams, and the light collimator adjusts the light beams to enable the light beams to be emitted vertically.
In order to achieve the above object, according to a third aspect of the present invention, the present invention further provides a positioning system, comprising at least one coupling positioning device of the present invention and a robot arm of the present invention, wherein the coupling positioning device receives a positioning signal sent by the robot arm or the coupling positioning device sends a positioning signal to the robot arm, and the coupling positioning device or the robot arm transmits the received positioning signal to the controller.
The coupling positioning device and the mechanical arm work in a matched mode to achieve determination of the relative positions of the coupling positioning device and the mechanical arm.
In a preferred embodiment of the present invention, when the coupling positioning device receives the positioning signal sent by the mechanical arm, the mechanical arm sends the positioning signal to the coupling positioning device vertically; when the coupling positioning device sends a positioning signal to the mechanical arm, the mechanical arm vertically detects the positioning signal.
And the mechanical arm is controlled to vertically send or detect a positioning signal, so that the positioning accuracy is ensured.
In another preferred embodiment of the present invention, the coupling positioning device is fixed to at least one of the sternum angle, the xiphoid process, the left anterior superior iliac spine and the right anterior superior iliac spine of the human body.
The positions of the human sternum angle, the xiphoid process and the left and right anterior superior iliac spines are relatively fixed, and as long as the positions of the four bones positioned on the same plane can be determined, the position of the whole human body can be determined, so that the positions of the four bones are used as positioning bones.
In order to achieve the above object, according to a fourth aspect of the present invention, the present invention further provides a capsule endoscope system, comprising a capsule endoscope and the positioning system of the present invention, wherein the robot arm has a capsule operation control unit, and the robot arm controls the operation of the capsule endoscope through the capsule operation control unit.
The relative position of the mechanical arm and the coupling positioning device is determined through the positioning system, namely the position of the human body relative to the mechanical arm, so that the accurate position of the capsule in the human body is obtained.
Drawings
FIG. 1 is a front view of a coupling positioning device in accordance with a preferred embodiment of the present invention;
FIG. 2 is a top view of a coupling positioning device in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot arm according to a preferred embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning system in a preferred embodiment of the present invention.
Reference numerals: 1, fixing a device; 101 an elastic strap; 102, fixing a buckle; 103 coupling the positioning device body; 104 an elastic cushioning material; 105 a pressure sensor; 106 a photosensor; 2, a mechanical arm; 201 a light emitting device; 202 light collimating device; 3 subjects.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a coupling positioning device, as shown in fig. 1 and 2, the coupling positioning device comprises a fixing device 1 and a coupling positioning device body 103 connected with the fixing device, wherein the fixing device 1 is used for fixing the coupling positioning device body 103 on the surface of a human body.
The fastening device 1 is an adhesive, suction cup or elastic strap 101. When the adhesive member or the suction cup is used, the coupling positioning device body 103 is disposed on the adhesive member or the suction cup, and is adhered to the body surface by adhesion or adsorption when in use.
In this embodiment, the fixing device 1 preferably employs an elastic strap 101, the coupling positioning device 103 is disposed on the elastic strap 101, the coupling positioning device body 103 is fixedly disposed on the elastic strap 101 or movably disposed with adjustable position, when the coupling positioning device body 103 is fixedly disposed on the elastic strap 101, the coupling positioning device body 103 is preferably disposed in the middle of the elastic strap 101, the coupling positioning device body 103 can be threaded on the elastic strap 101, and a hanging member can be disposed at two ends of the coupling positioning device body 103 to connect the elastic strap 101. The elastic belt 101 is further provided with a belt adjusting mechanism, and the belt adjusting mechanism can be two fixed buckles (not shown in the figure) which are arranged at two ends of the elastic belt 101 and matched with each other, and the connection is realized through the clamping connection of the two fixed buckles. The lace adjusting mechanism can also comprise a fixed buckle arranged on the elastic lace on one side, a clamping groove matched with the fixed buckle is arranged on the elastic lace on the other side, and the length of the elastic lace 101 is adjusted by clamping the fixed buckle 102 with the clamping groove. In this embodiment, a buckle structure used in a structure such as a belt, a watch strap, and a belt may be used, the elastic strap and the buckle may be fixedly connected or movably connected, and the movable connection facilitates adjusting the position of the buckle to adjust the length of the strap.
In this embodiment, an elastic buffer material 104 is disposed on a side of the coupling positioning device body 103 close to the surface of the human body, and the elastic buffer material 104 may be any elastic material that can be used in wearable devices, and may be, but not limited to, a sponge, an inflatable cotton, or a silica gel. The elastic buffer material 104 and the coupling positioning device body 103 may be bonded. A pressure sensor 105 is arranged in the elastic buffer material 104, and the output end of the pressure sensor 105 is electrically connected with a warning system of the controller.
The coupling positioning device body 103 further comprises a first detection component located on the coupling positioning device body 103, and the first detection component can send a positioning detection signal or receive the positioning detection signal and transmit the positioning detection signal to the controller. When the first detecting component receives the signal, the first detecting component is a photoelectric sensor 106, the photoelectric sensor 106 receives the positioning detection signal and transmits the positioning detection signal to the controller, and the photoelectric sensor 106 is preferably arranged on the side of the coupling positioning device body 103 far away from the pressure sensor 105. When the first detecting member is a transmitting signal, the first detecting member is a light beam transmitting mechanism.
The coupling positioning device body of the embodiment further comprises a signal processing circuit and a communication circuit, wherein the signal processing circuit receives a pressure signal detected by the pressure sensor, the output end of the signal processing circuit is connected with the input end of the communication circuit, and the output end of the communication circuit is connected with the controller. The controller is used for processing and converting signals acquired by the pressure sensor and sending the signals to the controller. In a preferred embodiment, the signal processing circuit may include an a/D converter (e.g., MCP3008, etc.) and a filter (e.g., LTCC filter, etc.) and a signal amplifier (e.g., LFC or FET, etc.) electrically connected in series for processing the received pressure signal for transmission by subsequent communication circuits. The output end of the communication circuit is electrically connected with the controller and used for sending the pressure signal processed by the signal processing circuit to the controller, and the communication circuit can preferably adopt wired communication controlled by chips such as RS485 and the like or adopt wireless communication such as Zigbee or WIFI and the like to be connected with the warning system. The controller comprises a comparator, a first input end of the comparator is electrically connected with a pressure threshold memory, a second input end of the comparator is electrically connected with an output end of the communication system, an output end of the comparator is electrically connected with a warning system, and the specific warning system can adopt warning equipment such as a buzzer or an LED lamp.
As shown in fig. 3, the present embodiment further provides a robot arm 2 cooperating with the coupling positioning device, the coupling positioning device is the above-mentioned coupling positioning device, the robot arm 2 includes a second detection component disposed on the robot arm 2, and the second detection component can receive the positioning detection signal of the first detection component and transmit the positioning detection signal to the controller, or the second detection component transmits the positioning detection signal to the first detection component. When the second detection component receives the signal, the second detection component is the photoelectric sensor 106, and the photoelectric sensor 106 receives the positioning detection signal and transmits the positioning detection signal to the controller. When the second detecting member is a transmitting signal, the second detecting member is a light beam transmitting mechanism.
In this embodiment, it is preferable that the first detecting member is the photosensor 106 and the second detecting member is a light beam emitting mechanism. The light beam emitting mechanism comprises a light emitting device 201 and a light collimating device 202 connected to the light emitting device 201. The photosensor 106 may employ an existing photosensor.
In another preferred embodiment, the first detection part and the second detection part are provided with a unit for sending the positioning detection signal and a unit for receiving the positioning detection signal at the same time, and the unit for receiving the positioning detection signal is connected with the controller. The unit for sending the positioning detection signal can be a light beam emitting mechanism; the unit for receiving the positioning detection signal can be a photoelectric sensor, and when the robot arm works, the unit for sending the positioning detection signal on one of the robot arm and the coupling positioning device works, and the unit for receiving the positioning detection signal on the other one works.
The present embodiment further provides a positioning system, as shown in fig. 4, which includes the above-mentioned robot arm 2 and at least one above-mentioned coupling positioning device 103, where the coupling positioning device receives the positioning signal sent by the robot arm 2 or the coupling positioning device sends the positioning signal to the robot arm 2, and the coupling positioning device or the robot arm 2 transmits the received positioning signal to the controller.
When the coupling positioning device receives a positioning signal sent by the mechanical arm, the mechanical arm vertically sends the positioning signal to the coupling positioning device; when the coupling positioning device sends a positioning signal to the mechanical arm, the mechanical arm vertically detects the positioning signal.
As shown in fig. 4, the coupling positioning device body 103 is fixed to at least one of the sternum angle, the xiphoid process and the left and right anterior superior iliac spines of the human body. Preferably, four coupling positioning device bodies 103 are arranged and respectively fixed at the sternum angle, the xiphoid process and the left and right anterior superior iliac spines of the human body.
In this embodiment, the degree of freedom of the robot arm 2 is at least 3, preferably, the robot arm may be a six-degree-of-freedom robot arm, the pose of the end manipulator may be accurately controlled or read by a controller (control computer), the second detection component is mounted on the robot arm body or on the end manipulator, the specific mounting manner may be an inlay, an adhesive, a rivet, or other connection manner, taking the second detection component as a parallel light beam generator as an example, the parallel light beam generator includes a light emitting device 201 and a light collimating device 202 adjacent to the outside thereof, and the parallel light beam generator 202 may vertically emit a parallel light beam downward in cooperation with the accurate control of the pose of the end manipulator, and when the parallel light beam generator 202 emits the parallel light beam vertically downward, the manipulator and the axis of the robot arm are in a straight line at this time. In another preferred embodiment of the present invention, the robot may be a magnetic control device (e.g., a magnet) that controls the operation of an external magnetic device.
In the process of being detected, if the coupling of the coupling positioning device body 103 and the positioning specific bone is loosened or deviated, the detection value of the pressure sensor 105 will change beyond the acceptable range, which causes the warning system to give a warning, and the controller is required to be dressed again.
The embodiment also provides a capsule endoscope system which comprises a capsule endoscope and the positioning system, wherein the mechanical arm 2 is provided with a capsule operation control unit, and the mechanical arm 2 controls the capsule endoscope to operate through the capsule operation control unit. In the present embodiment, the capsule endoscope is preferably a magnetically controlled capsule endoscope, and the robot arm 2 of the robot arm 2 is provided with a control magnet. The controller is internally provided with a mechanical arm movement control unit which is connected with the mechanical arm, and the existing mechanical arm movement control unit can be adopted. In another preferred embodiment, a magnetic field controller is provided within the controller, for example to control the strength of the magnetic field by the magnitude of the applied current.
The specific operation process comprises the following steps: first, the side of the coupling positioning device body 103 provided with the elastic buffer material 104, which is provided on the elastic belt 101, is contacted with at least one of the sternum angle, the xiphoid process and the left and right anterior superior iliac spines of the examinee 3, respectively. Preferably, the four coupling positioning device bodies 103 are respectively contacted and matched with the sternum angle, the xiphoid process and the left and right anterior superior iliac spines of the examinee 3 at one sides filled with the elastic buffer materials 104, then the elastic lace 101 is tied on the human body, and the fixed buckles 102 on the elastic lace 101 are buckled. On the premise of not causing physiological discomfort of the examinee 3, a certain elastic tension exists on the fixed elastic lace 101 so as to ensure that the coupling positioning device body 103 is stably coupled with the specific skeleton of the human body. The controller records the pressure value currently detected by the pressure sensor 105, and if the coupling of the coupling positioning device body 103 and the specific bones is loosened or deviated in the detection process, the detection value of the pressure sensor 105 will change beyond the acceptable range, so that the control computer sends out a warning to request to be dressed again.
If the coupling positioning device body 103 is normally coupled with a specific bone of a human body in the process of being detected, the detected person 4 lies on the examination table 3, the mechanical arm 2 is controlled to move to the position right above the coupling positioning device body 103, at the moment, the first detection part on the coupling positioning device body 103 is matched with the second detection part on the mechanical arm 2, the light emitting device 201 starts to emit light beams outwards, and the light collimating device 202 processes the light beams so that the light beams vertically irradiate to the photoelectric sensor 106. And in order to ensure the safety of the subject 3, the robotic arm 2 should be kept at a certain safe distance from the subject 3 during the positioning process. The photoelectric sensor 106 detects the positioning light and then sends a signal to the controller, the photoelectric sensor 106 can carry position information or number information of the photoelectric sensor 106 in the signal sent outwards, and the controller can display the position of the photoelectric sensor in a display device so as to record the position of the mechanical arm 2 at the moment, therefore, the relative position of the human body and the mechanical arm 2 can be determined, and the relative position of the capsule on the human body can be further obtained.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (14)
1. A coupling positioning device is characterized by comprising a fixing device and a coupling positioning device body connected with the fixing device, wherein the fixing device is used for fixing the coupling positioning device body on the surface of a human body;
the coupling positioning device body comprises a first detection part, and the first detection part sends a positioning detection signal or receives the positioning detection signal and transmits the positioning detection signal to the controller.
2. The coupling positioning device of claim 1, wherein the fastening device comprises an elastic strap, the elastic strap having a strap adjustment mechanism disposed thereon, the coupling positioning device body being disposed on the elastic strap.
3. The coupling positioning device as claimed in claim 2, wherein the strap adjusting mechanism comprises fixed buckles disposed at both ends of the elastic strap, or the strap adjusting mechanism comprises fixed buckles disposed on one side of the elastic strap and a locking groove disposed on the other side of the elastic strap;
the coupling positioning device body is fixedly arranged on the elastic strap or movably arranged with adjustable position.
4. The coupling positioning device according to one of claims 1 to 3, wherein an elastic buffer material is disposed on a side of the coupling positioning device body close to the surface of the human body, a pressure sensor is disposed inside the elastic buffer material, and an output end of the pressure sensor is connected to the warning system.
5. The coupling positioning device as claimed in claim 1, wherein the fixing device is an adhesive member or a suction cup.
6. The coupling positioning device of claim 1, wherein when the first detecting element receives a signal, the first detecting element is a photo sensor, and the photo sensor receives a positioning detection signal and transmits the positioning detection signal to the controller;
when the first detecting member is a transmitting signal, the first detecting member is a light beam transmitting mechanism.
7. The coupling positioning device according to claim 4, wherein the coupling positioning device body further comprises a signal processing circuit and a communication circuit, the signal processing circuit receives the pressure signal detected by the pressure sensor, an output end of the signal processing circuit is connected with an input end of the communication circuit, and an output end of the communication circuit is connected with the controller.
8. A mechanical arm matched with a coupling positioning device, wherein the coupling positioning device is the coupling positioning device as claimed in any one of claims 1 to 7, a second detection part is arranged on the mechanical arm, and the second detection part receives a positioning detection signal of the first detection part and transmits the positioning detection signal to a controller, or the second detection part sends the positioning detection signal to the first detection part.
9. A robotic arm as claimed in claim 8,
when the second detection part receives signals, the second detection part is a photoelectric sensor, and the photoelectric sensor receives positioning detection signals and transmits the positioning detection signals to the controller;
when the second detecting member is a transmitting signal, the second detecting member is a light beam transmitting mechanism.
10. A robotic arm as claimed in claim 7 or 9, in which the light beam emitting means comprises a light emitting device and a light collimating device connected to the light emitting device.
11. A positioning system comprising at least one of the coupled positioning device of any of claims 1-7 and the robot arm of any of claims 8-10, the coupled positioning device receiving a positioning signal from the robot arm or the coupled positioning device sending a positioning signal to the robot arm, the coupled positioning device or the robot arm transmitting the received positioning signal to the controller.
12. The positioning system of claim 11, wherein when the coupled positioning device receives the positioning signal transmitted by the robotic arm, the robotic arm transmits the positioning signal vertically to the coupled positioning device;
when the coupling positioning device sends a positioning signal to the mechanical arm, the mechanical arm vertically detects the positioning signal.
13. The positioning system of claim 11, wherein the coupling positioning device is fixed to at least one of the human sternum angle, xiphoid process, left anterior superior iliac spine and right anterior superior iliac spine.
14. A capsule endoscope system comprising a capsule endoscope and the positioning system according to any one of claims 11 to 13, wherein the robot arm has a capsule operation control unit, and the robot arm controls the operation of the capsule endoscope through the capsule operation control unit.
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| CN202010748614.3A CN114052635A (en) | 2020-07-30 | 2020-07-30 | Coupling positioning device, mechanical arm, positioning system and capsule endoscope system |
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