CN102302357A - Saccade endoscope and attitude sensing system used for same - Google Patents
Saccade endoscope and attitude sensing system used for same Download PDFInfo
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Abstract
The invention relates to the technical field of attitude sensing of medical implanted micromodule equipment, and discloses a saccule endoscope and an attitude sensing system used for the same. The attitude sensing system comprises an in-vivo device used for collecting and processing attitude information of the saccule endoscope inside a human body and an in-vitro device used for generating a magnetic field outside the human body, wherein the in-vivo device performs communication with the in-vitro device and comprises an attitude sensor unit, an attitude sensor control unit and an attitude computation unit; the attitude sensor unit comprises one or a plurality varieties of attitude sensors and is used for collecting attitude information of the saccule endoscope inside the human body; the attitude sensor control unit is used for configuring the working modes of the attitude sensors; and the attitude computation unit is used for computing an attitude angle of the saccule endoscope by adopting a corresponding method after filtering and other processing of the attitude information from the attitude sensor unit. According to the saccule endoscope and the attitude sensing system provided by the invention, the attitude of the saccule endoscope in an alimentary tract can be accurately detected under the premises of small size and low power consumption.
Description
Technical field
The present invention relates to the attitude cognition technology field of the medical embedded type equipment that declines, particularly relate to a kind of attitude sensing system and sacculus endoscope that is used for sacculus endoscope.
Background technology
Capsule endoscopic; It is the breakthrough of endoscopic technique; On overall structure, replaced traditional cable plug-in type with the pill formula; The mode that can swallow gets into digestive tract; Real noinvasive diagnosis and treatment have been realized; Simultaneously can Real Time Observation patient digestive tract image, expanded the scope and the visual field of all-digestive tract inspection greatly.When carrying out digestive tract examining, wireless capsule endoscope swallows from person to be measured oral cavity, through the whole digestive tract of gastrointestinal wriggling traversal, and internally gastrointestinal tract is carried out image acquisition.
Capsule endoscope in the market adopts 1-2 photographic head more, and therefore the observation visual field is little when carrying out digestive tract examining, causes the omission phenomenon to stomach and intestinal easily.According to statistics, having only the gastral shooting of the capsule endoscope blind area of a photographic head probably is 20%.For example, at patent US2002/0109774, JP2001112710 among the US2003/0023150 etc., all uses and is no more than two photographic head.Though adopted the method (comprising methods such as mechanical rotation) in different its visuals field of expansion, these inventions all can't realize the image acquisition at full visual angle.
At application number is all to have proposed a kind of sacculus shape equipment (being called sacculus endoscope) in 200910008885, the 200910080350 Chinese invention patent applications, its inner image acquisition scheme that adopts multi-cam.With the sacculus endoscope that comprises 6 photographic head is example; If will realize the image acquisition of non-blind area; The sacculus endoscopic system must guarantee the shooting speed of per second 6 frames (6 photographic head carry out image acquisition simultaneously) at least; And to realize such shooting speed; The system works electric current is at least about 100mA; Under such operating current requires; Battery generally to adopt in the existing wireless endoscope is supplied power; Only can keep the very short time of work; Therefore can't realize to all-digestive tract the particularly inspection of small intestinal.If adopting the mode of wireless energy supply supplies power; The one, also do not see sophisticated, as can be applied to wireless endoscopic spectroscopy wireless energy supply system at present; The 2nd, calculate with the wireless energy supply efficient of present bibliographical information; Then the energy supply in vitro system need send tens of watts to hundreds of watts wireless energy at least; This electromagnetic radiation whether harmful with and the extent of injury also do not have final conclusion at present; The energy supply in vitro system also need dispose refrigeration plant simultaneously, and this will limit patient's activity space.
If intravital equipment is adopting under the battery powered situation, for proper interior system can be worked under low-power consumption, to prolong the working time of battery, system needs to take with the speed that was lower than for 6 frame/seconds in the body.6 photographic head preferably carry out image acquisition in turn simultaneously, avoid the same time to have the situation of a plurality of photographic head work to occur---and a plurality of photographic head are worked simultaneously and can be improved the peak operation current of system greatly, thereby reduce the service life of battery.With respect to digestive tract under the immobilized relatively prerequisite, the strategy that adopts 6 photographic head to carry out image acquisition in turn can be realized the image acquisition of non-blind area at the hypothesis sacculus.But, the motion of sacculus in digestive tract is under the combined effect of gravity and peristalsis of the digest tract, to cause.Carry out in turn in the process of image acquisition at 6 photographic head, very likely motion or rotation have taken place in sacculus, if continue the blind area that the strategy of employing front will inevitably cause image acquisition this time.Thereby will there be the shooting blind zone problem in the images acquired strategy of taking in order to reduce the sacculus power consumption in turn for the saving power consumption reduces under the situation of taking frame per second.
Application number is during 201010189438 Chinese invention patent is applied for a patent, and has proposed a kind of multi-view image collection and storage system and method that is used in the body cavity of organism.If know sacculus endoscope with respect to gastral attitude, guarantee sacculus so under the prerequisite of low-power consumption work, then can realize the image acquisition of non-blind area.So-called attitude sensing system is promptly utilized motion sensor or attitude transducer or both combinations, thereby realizes attitude of carrier and the system that moves and detect.But above-mentioned patent does not relate to the concrete implementation method of attitude sensing system.
To sum up, still do not have at present effective, practical technological means and realize detection wireless sacculus endoscope attitude.
Summary of the invention
(1) technical problem that will solve
The technical problem that the present invention will solve is: how under the precondition of small size and low-power consumption, detect the attitude of sacculus endoscope in digestive tract exactly.
(2) technical scheme
For solving the problems of the technologies described above; The invention provides a kind of attitude sensing system that is used for sacculus endoscope, said system comprises in the body of collection and processing of the attitude information that is used for carrying out in vivo sacculus endoscope device and is used for the device outside in external generation magnetic field;
Wherein, device communicates with said device outside in the said body, and comprises:
The attitude transducer unit comprises one or more attitude transducers, is used for carrying out in vivo the collection of the attitude information of sacculus endoscope;
The attitude transducer control unit is used to dispose the mode of operation of said attitude transducer;
Attitude calculation unit is used for adopting corresponding method to calculate the attitude angle of sacculus endoscope to after carrying out filtering etc. from the unitary attitude information of attitude transducer and handling.
Preferably, said attitude transducer unit comprises one or more the combination in acceleration transducer, magnetic field sensor and the angular-rate sensor.
Preferably, said device outside comprises magnetic field generation device, and said magnetic field generation device is solenoid or alnico magnets.
Preferably, said solenoid is 3 pairs of mutually orthogonal solenoids, produces the uniform magnetic field of X-axis, Y-axis and the Z-direction of absolute coordinate system successively.
Preferably; Said attitude angle comprises the angle of pitch, roll angle and course angle; When said attitude transducer unit comprises acceleration transducer and magnetic field sensor, adopt the attitude angle of calculating sacculus endoscope based on the method for acceleration of gravity and earth's magnetic field principle, be specially:
S1 utilizes said acceleration transducer to measure the acceleration of gravity of sacculus endoscope, utilizes said magnetic field sensor to measure the magnetic field intensity of sacculus endoscope;
Whether S2, the attitude information that passes through to be gathered judge sacculus endoscope in motion, if, then return step S1, otherwise execution in step S3;
S3 is according to the angle of pitch, roll angle and the course angle of said acceleration of gravity and magnetic field intensity calculating sacculus endoscope;
S4 is according to the direction vector of photographic head in the said angle of pitch, roll angle and the course angle calculating sacculus endoscope.
Preferably, when said attitude transducer unit comprises acceleration transducer, magnetic field sensor and gyroscope, adopt the attitude angle of calculating sacculus endoscope based on the method for acceleration of gravity, angular velocity and earth's magnetic field principle, be specially:
S1 ' utilizes step S1～S3 to calculate the angle of pitch, roll angle and the course angle of sacculus endoscope;
S2 ' with the result of calculation of step S1 ' the initial attitude angle as sacculus endoscope, utilizes the angular velocity of gyroscope survey sacculus endoscope, and said angular velocity is carried out integration, calculates the attitude angle of sacculus endoscope after this;
S3 ' periodically adopts step S1～S3 to calculate attitude angle, and result of calculation is replaced the attitude angle that is calculated at step S2 '.
Preferably, when said attitude transducer unit comprises magnetic field sensor and gyroscope, adopt the attitude angle of calculating sacculus endoscope based on the method for angular velocity and magnetic field principle, be specially:
S1 "; utilize and to carry out attitude angle based on the method for magnetic field principle: said device outside successively A constantly, B is constantly and after C produces the uniform magnetic field of X-axis, Y-axis and Z-direction of absolute coordinate system constantly; magnetic field sensor detect respectively A constantly, B constantly and C constantly sacculus endoscope in the X ' of carrier coordinate system axle, Y ' axle and the axial magnetic field intensity of Z ', utilize A constantly, B constantly and C magnetic field intensity constantly calculate the initial attitude angle that obtains sacculus endoscope;
S2 ", utilize the angular velocity of said gyroscope survey sacculus endoscope, said angular velocity is carried out integration, estimate after this each attitude angle of sacculus endoscope constantly;
S3 ", adopt said method based on the magnetic field principle to calculate attitude angle, and result of calculation periodically replaced utilize step S2 " attitude angle that calculated.
The present invention also provides a kind of sacculus endoscope, comprises a solid, and it is inner that described system, and photographic head, described system are positioned at said solid, and said photographic head is distributed in the outer surface of said solid.
(3) beneficial effect
The attitude sensing system that the present invention proposes is based on the design of acceleration of gravity, angular velocity and magnetic field principle, is easy to adopt a series of Low-power Technology and MEMS technology in the design based on this principle.Wherein, the attitude transducer unit adopts the attitude transducer of some small sizes, low-power consumption to gather the attitude information of sacculus in the body; Also adopt the method for low-power consumption to realize in the attitude calculation unit.Therefore, this attitude sensing system has small size, low in power consumption, helps being integrated in the sacculus endoscopic system.
When the attitude sensing system that the present invention proposes is applied in the sacculus endoscopic system, can select specific photographic head work, realize gastral full visual angle image acquisition according to the attitude angle that detects; Avoid simultaneously multiple image acquisition is carried out at same position, greatly reduce the amount of redundancy of image, thereby reduce the power consumption of sacculus endoscope.
Three kinds of attitude methods in the system of the present invention are respectively: (1) based on the attitude cognitive method of acceleration of gravity and earth's magnetic field principle, and this method operand is little, be easy to hardware realizes and detect in real time attitude angle; (2) based on the attitude cognitive method of acceleration of gravity, angular velocity and magnetic field principle, this method precision is high, be easy to hardware realizes, can be applied in the environment of strenuous exercise; (3) and based on the attitude cognitive method of angular velocity and magnetic field principle, this method precision is high, be easy to hardware realizes, needs device outside.
Description of drawings
Fig. 1 is the schematic perspective view of the wireless sacculus endoscope inner geometry body of the embodiment of the invention;
Fig. 2 is the structural representation of the attitude sensing system that is used for wireless sacculus endoscope of the embodiment of the invention;
Fig. 3 is the flow chart that the embodiment of the invention detects the sacculus attitude angle;
Fig. 4 is the sketch map that attitude sensing system is used for the human body alimentary canal inspection in the embodiment of the invention one;
Fig. 5 is the structural representation that is used for the attitude sensing system of wireless sacculus endoscope in the embodiment of the invention one;
Fig. 6 is the flow chart of the attitude method A of the embodiment of the invention one employing;
Fig. 7 is the structural representation that is used for the attitude sensing system of wireless sacculus endoscope in the embodiment of the invention two;
Fig. 8 is the structural representation of the attitude method B of the embodiment of the invention two employings;
Fig. 9 is the sketch map that attitude sensing system is used for the human body alimentary canal inspection in the embodiment of the invention three;
Figure 10 is the structural representation that is used for the attitude sensing system of wireless sacculus endoscope in the embodiment of the invention three;
Figure 11 is the structural representation of the attitude method C of the embodiment of the invention three employings.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to illustrate the present invention, but are not used for limiting scope of the present invention.
The present invention is applicable to the sacculus endoscope (also abbreviating sacculus as) of multi-cam.Sacculus endoscope internal core part (being attitude sensing system of the present invention) is wrapped up by the flexible PCB plate makes an independent solid, evenly is placed with a plurality of photographic head at the outer surface of solid, carries out full visual angle image acquisition through these photographic head.Wherein, this solid can be positive tetrahedron, square, spherical surface body etc. as required.Among the present invention, be that the situation of regular cube describes with the solid, but the present invention is applicable to other solids simultaneously.Fig. 1 is the schematic perspective view of wireless sacculus endoscope inner geometry body 107, and photographic head 101～106 lays respectively at each surperficial center position place of square.
The attitude sensing system that is used for sacculus endoscope that the present invention proposes mainly is made up of two parts: be used for attitude information collection and the interior device of body of processing and the device outside that is used to dispose the external magnetic field environment in the body.As shown in Figure 2, device comprises in the body: the attitude transducer unit, comprise one or more attitude transducers, and realize collecting work to sacculus endoscope attitude information; The attitude transducer control unit is used to dispose the mode of operation of attitude transducer; Attitude calculation unit is used for handling from the unitary sacculus attitude information of attitude transducer; Wireless transmit/receive units has been realized and the communicating by letter of device outside; And the attitude system control unit of controlling device mode of operation in the whole body.Device outside comprises: the magnetic field control unit, and the outer magnetic field generation device of control volume produces uniform magnetic field; Wireless transmit/receive units is realized and interior the communicating by letter of installing of body; And external attitude system control unit, be used to control and dispatch the configuration effort of whole vitro system.
The present invention is applied to utilize attitude sensing system in the sacculus endoscopic system, can judge 6 photographic head of sacculus over against direction.Sacculus carries out image acquisition in a certain position of digestive tract, still adopts photographic head to gather the method for all directions image successively.If in gatherer process,, then the strategy of images acquired is in turn revised because variation has taken place for gastral wriggling or other reasons sacculus attitude.According to attitude sensing system, can detect each photographic head over against direction, choose one of them or certain several photographic head image acquisition carried out in the zone that not have collection, so just can accomplish non-blind area image acquisition to this position.In addition, after the completion sacculus is to this images of positions collection, can stop the image acquisition work of sacculus, change up to the position of sacculus in digestive tract.Like this, owing to introduced attitude sensing system, avoided multiple image acquisition is carried out in some place of digestive tract, thereby saved energy consumption greatly.It is doubly near that this can make that battery life strengthens, and under the prerequisite of no omission, an all-digestive tract inspection will become possibility.
Through attitude sensing system,, finally can access the attitude angle of sacculus endoscope in conjunction with corresponding attitude method (will introduce below, and comprise attitude method A, B, C).The direction vector of general employing attitude angle or photographic head is described the attitude of sacculus.Attitude angle is defined as the roll angle θ, the pitch angle
, and heading angle α; the direction vector of the camera is defined as six cameras point in the absolute coordinate system in a direction (a 3-dimensional vector description).General sacculus place referential is called carrier coordinate system (by coordinate axes X ', Y ' and Z ' confirm, referring to Fig. 4), and earth place referential is called absolute coordinate system (north geographic pole is an X-axis, and east is Y-axis, and gravity direction is the Z axle, referring to Fig. 4).The direction vector of attitude angle and photographic head is the describing mode of two kinds of equivalences, has the conversion relational expression of confirming between them.Attitude sensing system is carried out an attitude angle detection and is mainly comprised following step:
The attitude system control unit of device is initiated the attitude angle detection in the A1, body, promptly sends attitude angle through wireless transmit/receive units and detects instruction to external device;
A2, device outside configuration external magnetic field environment sends instruction notification attitude system control unit after the completion environment configurations;
A3, the attitude system control unit is through attitude transducer control unit initial configuration attitude transducer;
A4, one or more pick offs in the attitude transducer unit are accomplished the collection to the sacculus attitude information in some way;
A5, attitude calculation unit receives from the unitary sacculus attitude information of attitude transducer, and attitude signal is carried out Kalman filtering;
A6, attitude calculation unit is utilized filtered attitude signal, adopts the attitude method to calculate the attitude angle of sacculus endoscope.
Detailed process is referring to flow chart 3.
Wherein among the A5 attitude signal has been carried out Kalman filtering.There is random error in the attitude signal that attitude transducer measures, adopts the algorithm of Kalman filtering can reduce this error.
Wherein, the attitude transducer that comprises in the attitude transducer unit can be one or more combination in MEMS (MEMS) accelerometer (accelerometer is also referred to as acceleration transducer), MEMS gyroscope and the MEMS oerstedmeter (oerstedmeter is also referred to as magnetic field sensor).But the corresponding device outside of different sensor combination is not quite similar.Simultaneously, also be not quite similar to the attitude method that different combinations adopted.Describing attitude sensing system in detail with three embodiment below forms and operation principle.
Embodiment one
Like Fig. 5, preferably, in the present embodiment, device comprises in the body of attitude sensing system: acceleration transducer, adopt 13 axle acceleration sensor can measure 3 of the acceleration of gravity carrier coordinate system weight component on axial; Magnetic field sensor adopts 13 magnetic field sensor can measure 3 of the earth's magnetic field carrier coordinate system magnetic field strength component on axially; The attitude transducer control unit is used to dispose the attitude transducer mode of operation; Attitude calculation unit is used for handling from the unitary sacculus attitude information of attitude transducer; Among this embodiment, adopt the earth's magnetic field as of attitude perception with reference to physical quantity, thereby do not need extra device outside that magnetic field environment is configured.
When the attitude angle of sacculus endoscope is detected, need carry out according to following method.At first, the attitude system control unit is initiated attitude angle; Measuring frequency, measuring range and the mode of operation etc. of attitude transducer control unit configuration acceleration transducer and magnetic field sensor; After the attitude transducer control unit was accomplished the configuration to attitude transducer, acceleration transducer and magnetic field sensor can periodically be gathered each axial acceleration of gravity and magnetic field intensity, and the analogue value of gathering is carried out operations such as A/D sampling, storage; Acceleration transducer and magnetic field sensor degree of will speed up value and magnetic field value are delivered to attitude calculation unit, and attitude calculation unit is carried out Kalman filtering to attitude signal, to reduce the measurement error that pick off causes; Then, attitude calculation unit utilizes the attitude method can obtain the attitude of sacculus endoscope or the direction vector of photographic head.For further specifying present embodiment, carry out detailed description respectively to each ingredient in the attitude sensing system below.
Acceleration transducer is measured the acceleration of moving object.The mems accelerometer of technology maturation is divided into three kinds: piezoelectric type, appearance sense formula, heat seeking; What use at most is to hold sense formula mems accelerometer; Hold mass of the inner existence of sense formula mems accelerometer, from individual unit, it is the plate condenser of standard.Moving of movable mass piece changes the dipolar spacing of capacity plate antenna and over against area, calculate acceleration through measuring capacitance change thereby the variation of acceleration drives.When chip had acceleration to the right, intermediary movable mass piece was moved to the left with respect to other two capacitor boards, and variation has just taken place this two capacity of parallel plate capacitor, thereby measured the acceleration of chip motion.When 3 axis accelerometer transfixions, what it recorded is that acceleration of gravity is at 3 axial components of acceleration.When 3 axis accelerometers move, it records be acceleration of gravity and acceleration of motion vector with.
Magnetic field strength transducer, it can measure the magnetic field intensity on all directions.Principle according to electric field and magnetic field; When the length direction at the ferrimag strip applies an electric current; If applying magnetic field again, just there is the heterogeneous body phenomenon of magnetic resistance to occur in the ferrimagnet, thereby causes the change in resistance of alloy band self perpendicular to sense of current.Can measure the magnetic-field component intensity of earth's magnetic field on all directions based on the magnetic field strength transducer of this principle.The magnetic field strength transducer of the type is called magnetoresistive transducer.
In the present embodiment, the attitude transducer unit is made up of mems accelerometer and MEMS magnetic field sensor.Accelerometer and magnetic field sensor all have small size, low-power consumption and high-precision characteristics, thereby are particularly suitable for being similar to the implantable medical micromodule equipment of wireless sacculus endoscope this type low-power consumption.Referring to Fig. 4; 3 mems accelerometers 403 and 3 MEMS magnetic field sensor 404 are installed in some of wireless sacculus endoscope inner geometry body 107 go up (also can be inside), guarantee that 3 measurement axis of accelerometer and magnetic field sensor overlap with 3 axles of carrier coordinate system respectively at solid.Human body 401 is swallowed sacculus endoscope from the oral cavity; Sacculus endoscope carries out generally can not taking vigorous exercise in the process of image acquisition in digestive tract, thereby is that acceleration of gravity is at three axial weight component (g of carrier coordinate system through the accekeration that 3 axis accelerometers record
X ', g
Y ', g
Z '); The magnetic field intensity that 3 magnetic field sensors record is that the earth's magnetic field is at three axial magnetic field strength component (B of carrier coordinate system
X ', B
Y ', B
Z ').
The attitude transducer control unit need carry out initial configuration to accelerometer and magnetic field sensor after wireless sacculus endoscope starts.Initial configuration mainly comprises: the measuring range of setting sensor and certainty of measurement; Setting sensor is to the frequency acquisition of attitude information; And other Interrupt Process.After the initialization of accomplishing pick off, accelerometer and magnetic field sensor can periodically be measured 3 axial acceleration and magnetic field intensity.Sacculus endoscope carries out in digestive tract in the process of image acquisition, can reconfigure the mode of operation of attitude transducer as required through the attitude transducer control unit.
The attitude system control unit is responsible for the integral body scheduling and control of device in the sacculus endoscopic system body.When sacculus endoscope did not start, device all was in resting state in the whole body, and attitude transducer is in resting state equally.After sacculus endoscope started, the attitude system control unit will be responsible for accomplishing the initial work of the interior devices of dependent body such as attitude transducer.In carrying out the image information gatherer process, be responsible for the attitude information collection of scheduling attitude transducer, the related works such as calculating of attitude angle.
Attitude calculation unit is through the gravitational acceleration component of accelerometer and magnetic field sensor measurement and the attitude angle that the geomagnetic field intensity component calculates sacculus endoscope.This is the ingredient of core the most in the whole attitude sensing system.At present, exist certain methods can calculate attitude angle in the academia.But there is the computational complexity height in most method, the hardware data disposal ability is required high defective, thereby can not be applied in the small-sized embedded device.
Attitude method in the present embodiment (being referred to as attitude method A).
Attitude method A can be fast, accurately and with lower hardware costs calculate the attitude angle of sacculus endoscope and the direction vector of photographic head.Below, how explanation calculates the attitude angle of sacculus step by step.
S1: measure acceleration and magnetic field intensity, judge whether sacculus endoscope takes vigorous exercise.Measure g through acceleration transducer
X ', g
Y ', g
Z 'If
(g is local gravity acceleration value, generally gets 9.8m/s
2), illustrate that the sacculus motion is mild, can adopt S2 to calculate attitude angle; Otherwise, illustrate that the sacculus motion is violent, get back to S1.
S2: calculating the pitch angle <img file = "BDA0000070293940000112.GIF" he = "30" img-content = "drawing" img-format = "tif" inline = "yes" orientation = "portrait" wi = "90" /> If <img file = "BDA0000070293940000113.GIF" he = "87" img-content = "drawing" img-format = "tif" inline = "yes" orientation = "portrait" wi = "344" /> then <img file = "BDA0000070293940000114.GIF" he = "58" img-content = "drawing" img-format = "tif" inline = "yes" orientation = "portrait" wi = "700" /> where <maths num="0001"> <! [CDATA [<math> <mrow> <mi> sin </ mi> <msup> <mi> θ </ mi> <mo>, </ mo> </ msup> <mo> = </ mo> <mo> - </ mo> <mfrac> <msub> <mi> g </ mi> <msup> <mi> y </ mi> <mo>, </ mo> </ msup> </ msub> <mi> g </ mi> </ mfrac> <mo>, </ mo> </ mrow> </ math>] ]> </maths> <maths num="0002"> <! [CDATA [<math> <mrow> <mi> sin </ mi> <mi> φ </ mi> <mo> = </ mo> <mo> - </ mo> <mfrac> <msub> <mi> g </ mi> <msup> <mi> z </ mi> <mo>, </ mo> </ msup> </ msub> <mi> g </ mi> </ mfrac> <mo>; </ mo> </ mrow> </ math>]]> </maths> Otherwise, <img file = "BDA0000070293940000117.GIF" he = "120" img-content = "drawing" img-format = "tif" inline = "yes" orientation = "portrait" wi = "389" />
S3: calculate roll angle θ.<img file="BDA0000070293940000118.GIF" he="116" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="450"/> Where: If <img file = "BDA0000070293940000119.GIF" he = "90" img-content = "drawing" img-format = "tif" inline = "yes" orientation = "portrait" wi = "309 "/> <img file =" BDA00000702939400001110.GIF " he =" 58 " img-content =" drawing " img-format =" tif " inline =" yes " orientation =" portrait " wi =" 700 "/> <maths num="0003"> <! [CDATA [<math> <mrow> <mi> sin </ mi> <mi> φ </ mi> <mo> = </ mo> <mo> - </ mo> <mfrac> <msub> <mi> g </ mi> <msup> <mi> z </ mi> <mo>, </ mo> </ msup> </ msub > <mi> g </ mi> </ mfrac> <mo>; </ mo> </ mrow> </ math>]]> </maths> Otherwise, <maths num = "0004" > <! [CDATA [<math> <mrow> <mi> sin </ mi> <msup> <mi> θ </ mi> <mo>, </ mo> </ msup> <mo> = </ mo> <mo> - </ mo> <mfrac> <msub> <mi> g </ mi> <msup> <mi> y </ mi> <mo>, </ mo> </ msup> </ msub > <mi> g </ mi> </ mfrac> <mo>. </ mo> </ mrow> </ math>]]> </maths>
S4: calculate course angle α.
Can calculate sacculus attitude angle with respect to absolute coordinate system in digestive tract comparatively accurately through above step.Have the certain mathematical relation between the attitude angle of six photographic head direction vector and sacculus endoscope in absolute coordinate system, this mathematical relationship can come to confirm by the following method.
Located in the attitude angle α = 0,
θ = 0, see Figure 1:
When the balloon endoscope attitude angle becomes α,
θ, the corresponding direction vector of the camera can be determined by the following equation:
Where,
The detailed process such as the flow process of said method are shown in Figure 6.
So far, can confirm the direction vector of each photographic head in the sacculus endoscope through one 3 axis accelerometer and 3 magnetic field sensor.This direction vector can provide most important reference frame for the full visual angle of sacculus image acquisition strategy.In the present embodiment, sacculus endoscope inner geometry body is a square, thereby the direction vector of attitude angle and photographic head can carry out the equivalence conversion through above relationship.When sacculus endoscope inner geometry body is other shapes, still can find corresponding conversion relational expression through above-mentioned thinking.
Embodiment two
Like Fig. 7, preferably, in the present embodiment, device comprises in the body of attitude sensing system: acceleration transducer, adopt 13 axle acceleration sensor can measure acceleration of gravity 3 axial weight components in carrier coordinate system; Magnetic field sensor adopts 13 magnetic field sensor can measure earth's magnetic field 3 magnetic field strength component on axially in carrier coordinate system; The MEMS gyroscope can be measured sacculus endoscope 3 angular acceleration on axially in carrier coordinate system; The attitude transducer control unit is used to dispose the attitude transducer mode of operation; Attitude calculation unit is used for handling from the unitary sensor information of attitude transducer.Among this embodiment, adopt the earth's magnetic field as of attitude perception with reference to physical quantity, thereby do not need extra device outside that magnetic field environment is configured.
With respect to embodiment one, present embodiment has increased a kind of attitude transducer---the MEMS gyroscope.Carry out must satisfying two conditions when attitude angle detects at embodiment one: (1) human body can not carry out strenuous exercise; The motion of sacculus endoscope in digestive tract simultaneously is steady relatively, is gravity weight component on 3 directions in carrier coordinate system to guarantee accekeration that accelerometer records; (2) electromagnetic environment of human external is relatively stable, can not exist other magnetic interference source to influence the earth's magnetic field.Yet these two conditions many times not necessarily can be satisfied.For example, sacculus is through the human body esophagus time, and acceleration is bigger; Human body is difficult to assurance and does not walk about in the process of being checked; Also might there be electromagnet source (speaker) in human external, changes the magnetic conductive media in earth's magnetic field etc.In the present embodiment, behind the adding MEMS gyroscope, in checking process,, still can detect the attitude of sacculus endoscope even if do not satisfy above-mentioned two conditions.
The attitude angle (perhaps photographic head direction vector) of sacculus endoscope when detecting, is needed carry out according to following method.At first, the attitude system control unit is initiated attitude angle; The configuration of attitude transducer control unit acceleration transducer, magnetic field sensor and gyrostatic measuring frequency, measuring range and mode of operation etc.; After the attitude transducer control unit is accomplished the configuration to attitude transducer; Acceleration transducer, magnetic field sensor and gyroscope can periodically be gathered each axial acceleration of gravity, magnetic field intensity and angular velocity, and the analogue value of gathering is carried out operations such as A/D sampling, storage; Acceleration transducer, magnetic field sensor and gyroscope degree of will speed up value, magnetic field value and magnitude of angular velocity are delivered to attitude calculation unit, and attitude calculation unit can obtain the attitude of sacculus endoscope or the direction vector of photographic head through corresponding attitude angle method.For further specifying present embodiment, carry out detailed description respectively to each ingredient in the attitude sensing system below.
Acceleration transducer is identical with embodiment one.
Magnetic field sensor is identical with embodiment one.
The MEMS gyroscope can be measured sacculus endoscope 3 angular velocity on axially in carrier coordinate system.The MEMS gyroscope is encapsulated into mass in the chip based on Coriolis force, radially mass is being applied actuating speed, and according to Coriolis force, mass tangentially can produce acceleration, and this acceleration is proportional to the carrier rotary speed.Thereby can calculate the carrier rotary speed through measuring this acceleration.The MEMS gyroscope relies on its less size and lower power consumption, can be applied in the attitude sensing system.
The attitude transducer control unit need carry out initial configuration to accelerometer, magnetic field sensor and MEMS gyroscope after wireless sacculus endoscope starts.Initial configuration mainly comprises: the measuring range of setting sensor and certainty of measurement; Setting sensor is to the frequency acquisition of attitude information; And Interrupt Process.After the initialization of accomplishing pick off, accelerometer, magnetic field sensor and MEMS gyroscope can periodically be measured 3 axial acceleration, magnetic field intensity and angular velocity.Sacculus endoscope carries out in digestive tract in the process of image acquisition, can reconfigure the mode of operation of attitude transducer as required through the attitude transducer control unit.
The attitude system control unit is responsible for the integral body scheduling and control of device in the sacculus endoscopic system body.When sacculus endoscope did not start, device all was in resting state in the whole body, and the attitude transducer device is in resting state equally.After sacculus endoscope started, the attitude system control unit was responsible for accomplishing the interior initialized traffic controls that install of dependent body such as attitude transducer.In carrying out the image information gatherer process, be responsible for the attitude information collection of scheduling attitude transducer, the work such as calculating of attitude angle (direction vector of photographic head).
Attitude calculation unit is calculated the attitude (direction vector of photographic head) of sacculus endoscope through gravitational acceleration component, geomagnetic field intensity component and turn meter.
The attitude method of embodiment two (being called attitude method B).
With respect to embodiment one, the attitude angle of this moment calculate relative complex some, but the attitude precision of method that here proposes is higher.Have dual mode can directly calculate the attitude angle of sacculus endoscope:
(1) utilizes accekeration and field strength values, adopt attitude method A to calculate the sacculus attitude, referring to embodiment one;
(2) 3 axial magnitude of angular velocities of sacculus are carried out real-time integration, thereby detect the variation of sacculus attitude.
There is error in the angular velocity of MEMS gyroscope survey, and the angle speed integration can cause error accumulation for a long time, thereby the attitude angle that obtains can be drifted about with respect to right value.But the accuracy of the attitude angle that obtains of angle speed integration is than higher at short notice.The attitude method of comprehensive above-mentioned two kinds of methods promptly is said attitude method B.
Among this embodiment, the actual practice that attitude sensing system is measured sacculus endoscope attitude angle is:
S1 ': at first utilize attitude method A to calculate attitude angle, but, need to guarantee according to accekeration and field strength values<maths num=" 0005 "><[CDATA[<math><mrow><msubsup><mi>g</mi><msup><mi>x</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>+</mo><msubsup><mi>g</mi><msup><mi>y</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>+</mo><msubsup><mi>g</mi><msup><mi>z</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>≈</mo><msup><mi>g</mi><mn>2</mn></msup></mrow></math>]]></maths>And<maths num=" 0006 "><[CDATA[<math><mrow><msubsup><mi>B</mi><msup><mi>x</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>+</mo><msubsup><mi>B</mi><msup><mi>y</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>+</mo><msubsup><mi>B</mi><msup><mi>z</mi><mo>′</mo></msup><mn>2</mn></msubsup><mo>≈</mo><msup><mi>B</mi><mn>2</mn></msup></mrow></math>]]></maths>(wherein, g is local gravity acceleration value, generally gets 9.8m/s<sup >2</sup>B is local geomagnetic field intensity value)., acceleration and magnetic field intensity just can carry out the calculating of attitude angle after satisfying above-mentioned two conditions;
S2 ': with the initial attitude of this result of calculation, the magnitude of angular velocity of sacculus is carried out integration, calculate after this sacculus endoscope attitude constantly as sacculus endoscope.Magnitude of angular velocity to sacculus carries out integration, and calculating after this, the step of the sacculus endoscope attitude in the moment is specially: establishing the gyrostatic sampling period is T, and the attitude angle in a last moment is θ
t,
α
t, current gyrostatic angular velocity sampled value is ω
x, ω
y, ω
z, can calculate so T during this period of time in sacculus endoscope around X ', Y ' and Z ' axle has rotated ω respectively
xT, ω
yT, ω
zT (being integral process) is through this anglec of rotation ω
xT, ω
yT, ω
zT just can obtain the attitude angle θ in this moment
T+1,
α
T+1
S3 ': simultaneously,, should periodically adopt attitude method A that attitude angle is proofreaied and correct for fear of the drift of attitude angle.
The method structural representation of this attitude method B can be referring to Fig. 8.
In embodiment one, carry out must satisfying two conditions when attitude angle detects: (1) human body can not carry out strenuous exercise, and the motion of sacculus endoscope in digestive tract is steady relatively simultaneously; (2) electromagnetic environment of human external is relatively stable, can not exist other magnetic interference source to influence the earth's magnetic field.In the present embodiment, at some constantly, even if sacculus endoscope does not satisfy the attitude that above-mentioned two conditions still can estimate sacculus through the MEMS gyroscope.
Embodiment three
Like Fig. 9, preferably, in the present embodiment, attitude sensing system is made up of device and device outside two parts in the body.Wherein, device comprises in the body: magnetic field sensor 701, adopt 13 magnetic field sensor can measure earth's magnetic field 3 magnetic field strength component on axial in carrier coordinate system; MEMS gyroscope 304 can be measured sacculus endoscope 3 angular acceleration on axially in carrier coordinate system; The attitude transducer control unit is used to dispose the attitude transducer mode of operation; Attitude calculation unit is used for handling from the unitary sensor information of attitude transducer; Wireless transmit/receive units, be used to realize and device outside between radio communication.Device outside comprises: Electromagnetic Control unit, the magnetic field generation device outside the configuration human body 301; Wireless transmit/receive units, be used to realize and body in radio communication between the device; External attitude system control unit, the scheduling external magnetic field generator and and body in the device between information exchange.Magnetic field sensor 701 is positioned at solid 207 with MEMS gyroscope 304.
When the attitude angle of sacculus endoscope is detected, need carry out according to following steps.At first, the attitude system control unit is initiated attitude angle; Wireless transmit/receive units sends instruction, the configuration of ordering it that magnetic field generation device is correlated with to device outside in the body; After external attitude system control unit received configuration-direct through wireless transmit/receive units, order magnetic field control unit was taked corresponding operation; Magnetic field control unit controlling magnetic field generator periodically produces uniform magnetic field; External attitude system control unit has been accomplished the configuration of magnetic field generation device through device in the wireless transmit/receive units notice body; Attitude transducer control unit configuration magnetic field sensor and the gyrostatic measuring frequency of MEMS, measuring range and relevant mode of operation etc.; After the attitude transducer control unit was accomplished the configuration to attitude transducer, magnetic field sensor and MEMS gyroscope can periodically be gathered each axial magnetic field intensity and angular velocity, and the analogue value of gathering is carried out operations such as A/D sampling, storage; Attitude calculation unit receives from the go forward side by side processing of line correlation of the measured value of pick off, calculates the attitude angle (direction vector of photographic head) of sacculus.
For further specifying present embodiment, carry out detailed description respectively to each ingredient in the attitude sensing system below in conjunction with Figure 10.
Magnetic field generation device, this device have two kinds of implementations: the method for solenoid and the method for alnico magnets.
The method of solenoid: the external solenoid that 3 pair of orthogonal are installed, the direction of these 3 pairs of solenoids are identical with the Z axle with X-axis, Y-axis respectively, referring to Fig. 9.When carrying out digestive tract examining, needs of patients stays in the no magnetic environment, and the earth's magnetic field in this environment has been mounted material shielding on the wall.Therefore, when passing through electric current in the coil, can produce proximate uniform magnetic field in the human body region.When carrying out attitude measurement, allow the solenoid work of this 3 pair of orthogonal in turn, any moment can only have a solenoid in running order at the most.So, will produce the even strength of electromagnetic field of X-axis, Y-axis and Z axle in the human body region successively.The sequencing contro of 3 solenoid work must be very strict, and periodically communicate by letter with the interior device of body through wireless transmit/receive units, allows the interior device of body know the duty of solenoid.
The method of alnico magnets: produce uniform magnetic field in the human body region through a pair of alnico magnets.These a pair of alnico magnets can rotate, thereby can produce the magnetic field on X-axis, Y-axis and the Z-direction successively through rotation.
The magnetic field control unit can be controlled the conducting of electric current in the solenoid and ends, and size that also can be through control conducting electric current is with the intensity of adjustment electromagnetic field; The right direction of rotation alnico magnets, thereby the magnetic field that produces required direction.When carrying out the measurement of an attitude angle, produce the uniform magnetic field on X-axis, Y-axis and the Z-direction successively.Might as well establish, corresponding A constantly when producing the uniform magnetic field of X-direction; Corresponding B constantly when producing the uniform magnetic field of Y direction; Corresponding C constantly when producing the uniform magnetic field of Z-direction.Need to guarantee that the A moment, the B moment and C moment interval between any two are shorter.
External wireless transmit/receive units, the radio communication in realization and the body between the device.
External attitude system control unit, the work of the outer solenoid of control volume, realization are communicated by letter with the interior device of body.
Magnetic field sensor is identical with embodiment one.
The MEMS gyroscope is identical with embodiment two.
Sensor control unit need be carried out initial configuration to magnetic field sensor and MEMS gyroscope after wireless sacculus endoscope starts.Initial configuration mainly comprises: the measuring range of setting sensor and certainty of measurement; Setting sensor is to the frequency acquisition of attitude information; And Interrupt Process.After the initialization of accomplishing pick off, magnetic field sensor and MEMS gyroscope can periodically be measured 3 axial magnetic field intensities and angular velocity.With embodiment two different places be: when utilizing magnetic field sensor to carry out an attitude angle, magnetic field sensor need measure successively A constantly, B constantly and C 3 of the sacculus magnetic field intensity on axially constantly.Sacculus endoscope carries out in digestive tract in the process of image acquisition, can reconfigure the mode of operation of attitude transducer as required through the attitude transducer control unit.
Communicating by letter between the attitude system control unit, integral body scheduling and the realization of being responsible for device in the sacculus endoscopic system body and device outside.When sacculus endoscope did not start, device all was in resting state in the whole body, and the attitude transducer device is in resting state equally.After sacculus endoscope started, the attitude system control unit will be responsible for accomplishing the interior initialization traffic controls that install of dependent body such as attitude transducer.In carrying out the image information gatherer process, be responsible for the attitude information collection of scheduling attitude transducer, the related works such as calculating of attitude angle (direction vector of photographic head).
Wireless transmit/receive units in the body, realize with external wireless transmit/receive units between communicate by letter.
Attitude calculation unit utilizes magnetic field intensity and turn meter to calculate the attitude of sacculus in conjunction with device outside.
The attitude method (being called attitude method C) of embodiment three correspondences.
Have two kinds of methods can independently calculate the attitude of sacculus in digestive tract:
1) 3 axial magnitude of angular velocities of sacculus is carried out real-time integration, thereby detect the variation of sacculus attitude.There is error in the angular velocity of MEMS gyroscope survey, and the angle speed integration can cause error accumulation for a long time, thereby the attitude angle that obtains can be drifted about with respect to right value.But the degree of accuracy of the attitude angle that obtains of angle speed integration is than higher at short notice.
2) combine device outside and magnetic field sensor to calculate the attitude of sacculus endoscope.When utilizing this method to carry out attitude angle; Device outside needs to produce constantly at the A moment, the B moment and C successively the uniform magnetic field of X-axis, Y-axis and Z axle; Then, magnetic field sensor detect respectively A constantly, B constantly and C constantly the sacculus X ' of endoscope axially, Y ' axially and the axial magnetic field intensity of Z '.Utilize the A moment, the B moment and C magnetic field strength component value constantly can estimate the attitude of sacculus endoscope.Concrete grammar: utilize A constantly magnetic field sensor measured field intensity level can obtain the angle between X-axis and the X ' of sacculus endoscope axle in the absolute coordinate system, Y ' axle and Z '; Utilize B constantly magnetic field sensor measured field intensity level can obtain the angle between Y-axis and the X ' of sacculus endoscope axle in the absolute coordinate system, Y ' axle and Z '; Utilize C constantly magnetic field sensor measured field intensity level can obtain the angle between Z axle and the X ' of sacculus endoscope axle in the absolute coordinate system, Y ' axle and Z '; In conjunction with above information, can be easy to obtain the attitude angle of sacculus in digestive tract.
But, if sacculus endoscope only uses employing method 2) when carrying out the measurement of attitude angle, need frequent communication the between the device in device outside and the body, and external needs generation magnetic field, so cost is bigger.A kind of feasible scheme is to combine above-mentioned two kinds of methods to detect the attitude of sacculus endoscope in digestive tract, is called attitude method C.Particularly:
S1 ": employing method 2 when initial) obtain the initial attitude angle of sacculus endoscope;
S2 ": then, 3 gyrostatic sampled values of MEMS are carried out integration, estimate after this each attitude angle (being similar to the integration step of step S2 ') of sacculus endoscope constantly;
S3 ": simultaneously, also need utilize method 2) periodically the attitude angle of sacculus endoscope is proofreaied and correct.
When adopting this scheme, the operating frequency of external magnetic field generator reduces greatly, the communication frequency in the body between device and the device outside also reduces greatly.
The method structural representation of attitude method C can be referring to Figure 11.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from know-why of the present invention; Can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (8)
1. an attitude sensing system that is used for sacculus endoscope is characterized in that, said system comprises in the body of collection and processing of the attitude information that is used for carrying out in vivo sacculus endoscope device and is used for the device outside in external generation magnetic field;
Wherein, device communicates with said device outside in the said body, and comprises:
The attitude transducer unit comprises one or more attitude transducers, is used for carrying out in vivo the collection of the attitude information of sacculus endoscope;
The attitude transducer control unit is used to dispose the mode of operation of said attitude transducer;
Attitude calculation unit is used for adopting corresponding method to calculate the attitude angle of sacculus endoscope to after carrying out filtering etc. from the unitary attitude information of attitude transducer and handling.
2. the system as claimed in claim 1 is characterized in that, said attitude transducer unit comprises one or more the combination in acceleration transducer, magnetic field sensor and the angular-rate sensor.
3. system as claimed in claim 2 is characterized in that said device outside comprises magnetic field generation device, and said magnetic field generation device is solenoid or alnico magnets.
4. system as claimed in claim 3 is characterized in that, said solenoid is 3 pairs of mutually orthogonal solenoids, produces the uniform magnetic field of X-axis, Y-axis and the Z-direction of absolute coordinate system successively.
5. system as claimed in claim 2; It is characterized in that; Said attitude angle comprises the angle of pitch, roll angle and course angle; When said attitude transducer unit comprises acceleration transducer and magnetic field sensor; Employing is specially based on the attitude angle of the method calculating sacculus endoscope of acceleration of gravity and earth's magnetic field principle:
S1 utilizes said acceleration transducer to measure the acceleration of gravity of sacculus endoscope, utilizes said magnetic field sensor to measure the magnetic field intensity of sacculus endoscope;
Whether S2, the attitude information that passes through to be gathered judge sacculus endoscope in motion, if, then return step S1, otherwise execution in step S3;
S3 is according to the angle of pitch, roll angle and the course angle of said acceleration of gravity and magnetic field intensity calculating sacculus endoscope;
S4 is according to the direction vector of photographic head in the said angle of pitch, roll angle and the course angle calculating sacculus endoscope.
6. system as claimed in claim 5; It is characterized in that; When said attitude transducer unit comprises acceleration transducer, magnetic field sensor and gyroscope, adopt the attitude angle of calculating sacculus endoscope based on the method for acceleration of gravity, angular velocity and earth's magnetic field principle, be specially:
S1 ' utilizes step S1～S3 to calculate the angle of pitch, roll angle and the course angle of sacculus endoscope;
S2 ' with the result of calculation of step S1 ' the initial attitude angle as sacculus endoscope, utilizes the angular velocity of gyroscope survey sacculus endoscope, and said angular velocity is carried out integration, calculates the attitude angle of sacculus endoscope after this;
S3 ' periodically adopts step S1～S3 to calculate attitude angle, and result of calculation is replaced the attitude angle that is calculated at step S2 '.
7. system as claimed in claim 6 is characterized in that, when said attitude transducer unit comprises magnetic field sensor and gyroscope, adopts the attitude angle of calculating sacculus endoscope based on the method for angular velocity and magnetic field principle, is specially:
S1 "; utilize and to carry out attitude angle based on the method for magnetic field principle: said device outside successively A constantly, B is constantly and after C produces the uniform magnetic field of X-axis, Y-axis and Z-direction of absolute coordinate system constantly; magnetic field sensor detect respectively A constantly, B constantly and C constantly sacculus endoscope in the X ' of carrier coordinate system axle, Y ' axle and the axial magnetic field intensity of Z ', utilize A constantly, B constantly and C magnetic field intensity constantly calculate the initial attitude angle that obtains sacculus endoscope;
S2 ", utilize the angular velocity of said gyroscope survey sacculus endoscope, said angular velocity is carried out integration, estimate after this each attitude angle of sacculus endoscope constantly;
S3 ", adopt said method based on the magnetic field principle to calculate attitude angle, and result of calculation periodically replaced utilize step S2 " attitude angle that calculated.
8. a sacculus endoscope is characterized in that, comprises a solid; Each described system in the claim 1～7; And photographic head, each described system is positioned at said solid inside in the claim 1～7, and said photographic head is distributed in the outer surface of said solid.
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