CN104887230B - Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule - Google Patents
Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule Download PDFInfo
- Publication number
- CN104887230B CN104887230B CN201410078477.1A CN201410078477A CN104887230B CN 104887230 B CN104887230 B CN 104887230B CN 201410078477 A CN201410078477 A CN 201410078477A CN 104887230 B CN104887230 B CN 104887230B
- Authority
- CN
- China
- Prior art keywords
- inclination angle
- wireless
- angle type
- wireless data
- transceiver module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
A kind of inclination angle type electromagnetic tracking system for swallowing formula electronic capsule, including magnetic field generator, wireless data transceiver module and data processing platform (DPP) in vitro are set, and it is arranged on the wireless magnetic sensing module of the inclination angle type swallowed on formula electronic capsule；Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module is connected with magnetic field generator, data processing platform (DPP) communication respectively.The present invention senses the method being combined with magnetic field sensing using inclination angle type, it is that multivariant orientation tracking can be achieved using only single magnet exciting coil, reduce the volume and power consumption of magnetic field generator in tracking system, shorten the solution time of track algorithm, sampled data output and the sampling time of every wheel tracking are reduced, tracking accuracy is improved.
Description
Technical field
The present invention relates to medicine equipment, more particularly to a kind of it is used to track the internal inclination angle for swallowing formula electronic capsule orientation
Formula electromagnetic tracking system.
Background technology
The formula electronic capsule of swallowing can be by orally entering alimentary canal, and the miniature video camera system carried by it is by alimentary canal
Image wireless transmission is detected and adopted to the multiple information in intestines and stomach to external, or by its multiple sensor carried
Collection, or biopsy is sampled to local organization by executing agency.However, doctor, which can not be known, swallows formula electronic capsule in body
Interior position, thus can not be corresponding with concrete position by indagation information, and also can not exactly be driven according to the orientation of capsule
Capsule is moved.
At present, for swallowing the track and localization of formula electronic capsule, numerous scientific research personnel achieve lot of research.Britain
Lab-in-a-Pill capsule endoscopes use magnetic marker positioning mode, following range be 18cm within.Aziz et al. is in capsule
Place cylindrical permanent magnet, detect magnetic field to track capsule by external three axle magnetoresistive transducers, 10cm × 10cm ×
In 10cm following range, maximum tracking error reaches 3cmm.Kim et al. is passed by installing four Hall effect in capsule
Magnetic field intensity outside sensor, detection, to track capsule orientation.The following range of report is：Capsule and magnetic field sources it is relative away from
From in x directions from 0 to 50mm, in y directions from -50mm to+50mm, in z directions from 200mm to 300mm, maximum position error
15mm.The space that above static state or the following range and tracking accuracy of quasistatic magnetic field detection method are still improved.
Because the low-frequency noise and earth magnetism field signal of electronic component are difficult to filter out in magnetostatic signal, and only examined by magnetic field
Survey and determine orientation, cause in the inverse problem of magnetic field that unknown quantity number is more, solving complexity.Therefore inclination angle is combined using alternating magnetic field sensing
The method of sensing, tracks the orientation of internal electronic capsule, with strong antijamming capability, following range be wide, orientation solve the time it is short,
The advantages of often taking turns sampled data output and the short sampling time of tracking.
The content of the invention
The purpose of the present invention, is just to provide for a kind of new inclination angle type electromagnetic tracking system, and formula electricity is swallowed for tracking
Orientation of the sub- capsule in human body alimentary canal.
In order to achieve the above object, present invention employs following technical scheme：A kind of inclination angle type for swallowing formula electronic capsule
Electromagnetic tracking system, including magnetic field generator, wireless data transceiver module and data processing platform (DPP) in vitro are set, and set
The wireless magnetic sensing module of inclination angle type on formula electronic capsule is swallowed；Inclination angle type is wireless magnetic sensing module and wireless data transceiving mould
Block radio communication is connected, and wireless data transceiver module is connected with magnetic field generator, data processing platform (DPP) communication respectively.
The magnetic field generator is only made up of single magnet exciting coil, it is not necessary to timesharing excitation.
The wireless magnetic sensing module of inclination angle type mainly includes inclination angle sensing submodule, magnetic sensing submodule and wireless data
Sending submodule, the output of inclination angle sensing submodule and magnetic sensing submodule connects wireless data sending submodule respectively；It is described
Inclination angle sensing submodule is made up of acceleration transducer, signal conditioning circuit, the output connection signal condition of acceleration transducer
Circuit, the output connection wireless data sending submodule of signal conditioning circuit；The magnetic sensing submodule includes signal and controls electricity
Road, magnetic sensor, multiway analog switch, programmable amplification and filter circuit, peak detection circuit and sampling and A/D conversions
The output of circuit, wherein signal control circuit respectively with multiway analog switch, programmable amplification and filter circuit, sampling and A/D
Change-over circuit and wireless data sending submodule are connected, magnetic sensor, multiway analog switch, programmable amplification and filtered electrical
Road, peak detection circuit and sampling and A/D change-over circuits order are telecom-connected, sampling and the output of A/D change-over circuits connection letter
Number control circuit.
In the sensing submodule of inclination angle, the bearing signal of alimentary canal object is converted to electric signal by acceleration transducer,
Output is to signal conditioning circuit, and signal conditioning circuit is exported to wireless data sending submodule, sends data to external.
In magnetic sensing submodule, magnetic sensor changes the magnetic field signal of locus residing for alimentary canal object
For electric signal, and export to multiway analog switch.The input of multiway analog switch is connected to signal control circuit simultaneously, by signal
Control circuit to control the break-make of analog switch, the output signal of three axial directions of magnetic sensor is sent to follow-up electricity successively
Road.Programmable amplification and the input of filter circuit are connected to the output of multiway analog switch, also, are connected to signal control simultaneously
Circuit, the programmable amplification of control signal regulation sent by signal control circuit and the gain factor of filter circuit.It is programmable to put
The output of big and filter circuit is connected to peak detection circuit.The output of peak detection circuit is connected to sampling and A/D conversion electricity
Road.Sampling and A/D change-over circuits are bi-directionally connected with signal control circuit simultaneously, and on the one hand sampling and A/D change-over circuits are by peak value
The analog quantity of detection circuit output is converted to digital quantity, is delivered to signal control circuit, then be sent to nothing by signal control circuit
Line number is according to sending submodule；On the other hand, sampling and A/D change-over circuits receive the controlled quentity controlled variable of signal control circuit output, realize
Sampling and A/D translation functions.
In magnetic sensing module, the gain-adjusted of programmable amplification and filter circuit forms a closed loop feedback regulation side
Formula.When initial, signal control circuit exports an initial gain control value to programmable amplification and filter circuit, now, can
Programming amplification and filter circuit produce corresponding yield value according to initial control values, and the output signal to magnetic sensor is carried out
Initial amplification, and after peakvalue's checking, sampling and A/D conversion, it is sent to signal control circuit.Signal control circuit will be read in
Value is compared with the higher limit of setting, lower limit in program.If reading value is believed between the higher limit and lower limit of setting
Number control circuit reading value is sent to wireless data sending submodule；If reading value is more than the higher limit of setting, signal control
Circuit processed exports a smaller gain control value to programmable amplification and filter circuit again, waits after A/D conversions to be read
New value；If reading value is less than the lower limit of setting, signal control circuit exports a bigger gain control value and extremely may be used again
Programming amplification and filter circuit, wait the new value after A/D conversions to be read.
The wireless data transceiver module provides portable data storage and data processing platform (DPP) monitors two ways in real time；
When the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data received are stored to wireless data receipts
Send out in the multimedia storage card in module, after end to be checked, disposably read in by card reader in data processing platform (DPP)；When wireless
When data transmit-receive module is connected with the data wire of data processing platform (DPP), the data received pass through cable real-time Transmission to data
In processing platform, subsequent treatment is carried out.
The data processing platform (DPP) uses the chaos ant colony algorithm of sequencing selection, and the Nonlinear System of Equations to azimuth information is entered
Row is solved.
The concrete scheme of algorithm is described as follows：
Artificial bee colony algorithm is to simulate one kind that honeybee group hunting food source carries out the social action of intelligent gathering honey and proposed
Optimization method, is a kind of new heuritic approach based on swarm intelligence thought.Mesh need not be obtained with artificial bee colony algorithm
The analytic property of scalar functions, only need to carry out good and bad comparison to the feasible solution of object function, pass through the local optimal searching of honeybee individual
Behavior, finally searches global optimum in colony, therefore suitable for solving the multivariable target of orientation tracking mathematical modeling
The optimization problem of function.
It is represented by between the signal that the position and wireless data transceiver module for swallowing formula electronic capsule are received following=non-
System of linear equations：
fi(A)=cii=1,2,3(1)
In formula, fiFor i-th of equation in equation group；ciWhen being connected for i-th of axle of analog switch and magnetic sensor,
The signal value that wireless data transceiver module is received.
Wherein, A is unknown number vector, because 3 deflections of tracked target thing can sense son by inclination angle
Module measurement is obtained, it is therefore desirable to which the unknown number of solution only includes 3 position coordinateses of tracked target thing, thenFor object function, then the Solving Nonlinear Systems of Equations problem of azimuthal coordinates is just
Be converted to the vectorial A for finding and causing object function ε (A) to be minimum：
Assuming that initial population contains s solution, that is, lead honeybee or follow the quantity of honeybee for s；Each feasible solution of majorized function
Ai(i=1,2 ..., S) is a 3-dimensional vector, the i.e. position in nectar source.In standard intraocular's ant colony algorithm, first, honeybee is led to honey
Source carries out a neighborhood search, to each nectar source position AiIt is updated according to following formula：
Vij=A ij+ψij(Aij-Akj)(3)
Wherein, j is the dimension of solution vector, j ∈ { 1,2,3 }；K ∈ { 1,2 ..., s }, k is randomly selected, and must not
Equal to i；vijFor the position in new nectar source；ψijFor random number, span is [- 1,1].
Lead honeybee to carry out after location updating, optimal selection is made according to the earning rate in new nectar source.If the income in new nectar source
When rate is higher than green molasses source, original position is replaced with new nectar source position；Otherwise the exploitation to green molasses source is still kept.Earning rate is orientation
Tracking target function ε (A) functional value.As shown by the following formula：
After leading honeybee to complete search, follow honeybee to select nectar source in the way of roulette, follow honeybee to select the general of nectar source
Rate value is as shown in below equation：
Wherein, fit (Ai) for i-th solution fitness.
Follow honeybee to be searched near nectar source, new nectar source position is produced, by formula (3) Suo Shi.
When some nectar source position after Limit times circulates still without being improved, and the nectar source earning rate again not
It is current optimal, then this nectar source is abandoned, while corresponding with this nectar source follow honeybee to be converted to search bee, according to below equation weight
New random initializtion nectar source position, replaces the nectar source position being abandoned：
Ai J=Amin j+rand(0,1).(Amax j-Amin j)(7)
In order that standard intraocular's bee colony optimized algorithm avoids the occurrence of the hair that Premature Convergence is absorbed in local extremum and stagnation behavior
It is raw, and convergence of algorithm speed is improved, it is improved.Mainly set about in terms of following two：On the one hand, improve artificial
The generating mode of the initial solution of ant colony algorithm, introducing chaos sequence makes the generation of initial solution have diversity；On the other hand, improve
The selection strategy of artificial bee colony algorithm, using ordering type selection strategy, it is to avoid be too early absorbed in local extremum, reaches preferably
Search effect.
Initial solution in artificial bee colony algorithm is that correspond to initial nectar source position, each leads honeybee according to priori
Scanned near nectar source, produce a new position.Initial solution it is whether reasonable, largely have impact on the property of algorithm
Energy.Therefore logistic chaos sequence methods are introduced, making the initial solution of generation has diversity, ergodic well, relatively evenly
It is distributed in whole search space.
Chaos sequence { x is produced using following formulan}：
xn+1=μ.xn.(1-xn)(8)
In formula, μ values are 4, XnE (0,1).
3 different initial values are given, 3 different sequences of numerical value can be produced, { x is designated as respectivelyn 1}、{xn 2}、{xn 3}.From
500th beginning value of sequence, and in order that the chaos sequence of generation is distributed in solution space, at following normalization
Reason：
Aij=lj+Xs00+ij.(uj-lj)(9)
I is the label of initial solution, and i ∈ { 1,2 ..., s }, s is the total number of initial solution；J for solution dimension, j ∈ 1,2,
3}；liAnd uiValue lower bound and the upper bound of the jth dimension variable of solution are represented respectively.Thus initial solution A can be generatedi。
On selection strategy, the selection mode of roulette causes to follow honeybee prematurely to abandon fitness function poor
Solution, is thus likely to result in Premature Convergence, is absorbed in local extremum.
The poor point bag of angle value may be accommodated due to the complexity of orientation tracking target function, around globe optimum
Enclose, only in Seedling selection to these points, and scanned near these points, be possible to search globe optimum；It is no
Then algorithm just abandons the search of the point poor to these fitness in early stage, may be absorbed in local extremum.In order that fitness
Poor nectar source position can also have larger probability to be selected early stage algorithm, and the selection strategy of standard ant colony algorithm is carried out
Improve：It is ranked up according to the fitness value of each nectar source position, is calculated according to the sequence number of sequence and be followed the general of honeybee selection
Rate, the more forward selected probability of sorting is bigger, therefore select probability is only relevant with sequence number, with fitness function value not directly into
Ratio, it is to avoid because fitness function numerical value difference is larger, cause select probability polarization, so as to cause fitness poor
Nectar source position in the phenomenon that is just abandoned of early stage.
First, the corresponding adaptive value functional value in each nectar source position is ranked up, wherein bottom right mark illustrates each nectar source position
Sequence number of the adaptation value function put after all adaptation value functions sort from big to small, s represents the total number of nectar source position：
Account for1>ε2>…>εs(10)
If the serial number n of the corresponding adaptive value functional values of some nectar source position Ai in the sequence, its corresponding selection is general
Rate is：
In summary, the program step design of the chaos ant colony algorithm of sequencing selection is as follows：
1) parameter initialization.Number, the number for following honeybee, Limit value, the control accuracy for leading honeybee are sete, allow
Maximum iteration max, and according to the position in the initial nectar source of chaos operator generation.TheiIndividual nectar source position is designated as Ai=(Ai1,Ai2,
Ai3)。
2) the fitness value ε (A of each nectar source position are calculatedi)。
3) it is each to lead honeybee correspondence one nectar source position, location updating is carried out according to formula (3), and calculate the adaptation of new position
Degree.
4) lead honeybee using the greedy rule of individual, select or abandon new position.
5) fitness function of the nectar source position of honeybee storage will be led to be ranked up from big to small, calculate and select according to ranking method
Probability is selected, follows honeybee to select nectar source position according to select probability.
6) follow honeybee to carry out location updating according to formula (3), and calculate the fitness of new position.
7) using greedy rule, select or abandon new position.
8) determine whether to need the solution abandoned without improvement by limit iteration, if so, then producing new solution substitution
It.
9) the best nectar source position of storage fitness value, judgement is preferably adapted to whether value is less thane, and whether reach permission
Iterations max.If neither meeting, step 3 is jumped directly to), proceed optimizing.If less than e, output bee colony is calculated
The current best nectar source position of method, the target object location that as optimizing is obtained.It is defeated if having reached the iterations max of permission
Go out and " reached maximum iteration!”.
The inclination angle type electromagnetic tracking system of the present invention has the following advantages that and feature：
1st, magnetic field generator is only made up of single magnet exciting coil, and magnetic field generator does not need the excitatory SECO electricity of timesharing
Road.The volume and power consumption of magnetic field generator are thus reduced, sampled data output and the sampling time of every wheel tracking is reduced, shortens
Reception processing time of signal, improve the real-time of tracking.
2nd, using inclination angle, sensing tracks electronic capsule by the way of magnetic field sensing is combined.The introducing of inclination angle sensing mode,
The unknown quantity number of magnetic field reverse temperature intensity is reduced, the solution time is shortened, improves positioning precision.
3rd, the software algorithm of data processing platform (DPP), employs non-linear side of the improvement type artificial bee colony algorithm to azimuth information
Journey group is solved, and improves solving speed and solving precision.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention.
Fig. 2 is coordinate rotation schematic diagram.
Fig. 3 is the structured flowchart of the wireless magnetic sensing module of inclination angle type.
Embodiment
Referring to Fig. 1, the radio tracking device of alimentary canal object of the present invention, including set magnetic field generator 1 in vitro,
Wireless data transceiver module 2 and data processing platform (DPP) 3, and it is arranged on the wireless magnetic sensing of the inclination angle type swallowed on formula electronic capsule
Module 4；Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, wireless data transceiver module difference
It is connected with magnetic field generator, data processing platform (DPP) communication.
Referring to Fig. 3, the wireless magnetic sensing module 4 of inclination angle type in the present invention mainly includes inclination angle sensing submodule 41, magnetic and passed
Feel submodule 42 and wireless data sending submodule 43, the output of inclination angle sensing submodule and magnetic sensing submodule connects nothing respectively
Line number is according to sending submodule.Wherein, sensing submodule 41 in inclination angle is made up of acceleration transducer 411 and signal conditioning circuit 412,
The output connection signal conditioning circuit of acceleration transducer, the output connection wireless data sending submodule of signal conditioning circuit.
Magnetic sensing submodule 42 includes signal control circuit 421, magnetic sensor 422, multiway analog switch 423, programmable amplification
And filter circuit 424, peak detection circuit 425 and sampling and A/D change-over circuits 426, the wherein output of signal control circuit point
Not with multiway analog switch, programmable amplification and filter circuit, sampling and A/D change-over circuits and wireless data sending submodule phase
Even, magnetic sensor, multiway analog switch, programmable amplification and filter circuit, peak detection circuit and sampling and A/D conversions
Circuit sequence is telecom-connected, sampling and the output of A/D change-over circuits connection signal control circuit.
When every wheel tracking sampling starts, inclination angle type is wireless magnetic sensing module and wireless data transceiver module are in receiving
Whether state, constantly inquiry receive operational order.After wireless data transceiver module power-up initializing, one is transmitted wirelessly immediately
" handshake request " signal is to the wireless magnetic sensing module of inclination angle type, then in reception wait state；If still without receipts after often waiting 2 seconds
To " success of shaking hands " signal, then " handshake request " signal is sent again.Inclination angle type is wireless, and magnetic sensing module receives, and " shaking hands please
Ask " after signal, that is, " success of a shaking hands " signal is sent, wireless data transceiver module is returned to.Wireless data transceiver module connects
Receive after " success of shaking hands " signal, then output control signals to magnetic field generator, start it excitatory.Magnetic field generator produces one
Determine the sinusoidal current of current strength, be passed through the resonant tank of single magnet exciting coil, it is produced the alternation of certain frequency in space
Magnetic field.Now, the wireless magnetic sensing module of inclination angle type is to detect the magnetic field signal and acceleration signal at electronic capsule, electronic capsule
Residing orientation and the peak value of magnetic field signal, the component of acceleration signal have the functional relation of determination, therefore, pass through detection
The AC magnetic field signal peak and acceleration signal components in orientation residing for electronic capsule, convert them to electric signal, and wirelessly
It is transferred to external wireless data transceiver module.
If it is respectively A that three of 3-axis acceleration sensor, which axially export,x′、Ay′、Az', three axles are orthogonal two-by-two.
Moving coordinate system o '-x ' y ' z ' are set up on magnetic sensor, wherein using the geometric center point of Magnetic Sensor as origin of coordinates o ', three
Individual axially output is respectively o ' x ', o ' y ', o ' z '.During installation, make the A of acceleration transducerx, it is oriented parallel to three axle magnetic sensing
Device o ' x ', the A of acceleration transducery' it is oriented parallel to o ' y ', the A of acceleration transducerzParallel o ' the z ' in ' direction.If external
The frame of reference is o-xyz, then is rotated according to Euler's angular coordinate, as shown in Fig. 2 moving coordinate system o '-x ' y ' z ' rotate around z ' axles
Angle γ1, now o ' x ' and N overlapping of axles；Further around N axle anglecs of rotation γ2, now z ' axles overlapped with z-axis；Finally around the z-axis anglec of rotation
Spend γ3, o '-x ' y ' z ' are overlapped with o-xyz after three rotations.
Exported according to the static acceleration of three axial directions of acceleration transducer, three axle magnetic in magnetic sensing submodule can be obtained and passed
Three anglec of rotation γ 1, γ of sensor and frame of reference o-xyz2、γ3, i.e., magnetic sensor is by with anglec of rotation γ1、γ
2、γ3After the coordinate rotation of parameter, three reference axis of its three output shafts each parallel to frame of reference o-xyz.Therefore
By coordinate anglec of rotation γ1、γ2、γ3After acquisition, space magnetic field vector is substituted into in the magnetic field model in electronic capsule orientation, calculating
After abbreviation, the locus coordinate of electronic capsule is only contained in magnetic nonlinearity equation group, so as to reduce magnetic field inverse problem
The unknown quantity number of solution, shortens the solution time, improves positioning precision.The big I of space magnetic field vector senses son by magnetic
Module measurement is obtained.
Wireless data transceiver module transmits the magnetic field signal received and dip angle signal to data processing platform (DPP), progress side
Position is solved.The working method of wireless data transceiver module is divided into：Portable data storage and host computer are monitored in real time.When without line number
When being disconnected according to transceiver module and the data wire of data processing platform (DPP), the data received are stored to the multimedia storage in device
In card, after end to be checked, disposably read in by card reader in data processing platform (DPP)；At wireless data transceiver module and data
During the data wire connection of platform, the data received, into data processing platform (DPP), are carried out follow-up by cable real-time Transmission
Processing.
The software algorithm of data processing platform (DPP), employs nonlinear equation of the improvement type artificial bee colony algorithm to azimuth information
Group is solved.The collective intelligence behavior of bee colony is simulated, Nonlinear System of Equations function optimization problem is converted into first, by nectar source
Position corresponded to a feasible solution of majorized function, the process that bee colony finds optimal nectar source is exactly the mistake of search function optimal solution
Journey, the position in optimal nectar source is then the locus of the optimal solution of function, i.e. electronic capsule.The artificial bee colony algorithm of standard has
Preferable ability of searching optimum, but local search ability is poor, in order to improve the precision of algorithm, it is to avoid Premature Convergence occur and be absorbed in
The generation of local extremum and stagnation behavior, has carried out adaptive adjustment to the step-size in search of artificial bee colony algorithm, has improved solution
Speed and solving precision.
By above-mentioned design, the space of electronic capsule can be shown in real time by swallowing the inclination angle type electromagnetic tracking system of formula electronic capsule
Orientation, or azimuth information is stored into multimedia card, after end to be checked, disposably read by card reader, enter line number
According to analysis and post processing.
Claims (3)
1. a kind of inclination angle type electromagnetic tracking system for swallowing formula electronic capsule, it is characterised in that：Including setting magnetic field hair in vitro
Raw device, wireless data transceiver module and data processing platform (DPP), and it is arranged on the wireless magnetic of inclination angle type swallowed on formula electronic capsule
Sensing module；Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, wireless data transceiver module
It is connected respectively with magnetic field generator, data processing platform (DPP) communication；
The magnetic field generator is only made up of single magnet exciting coil, it is not necessary to timesharing excitation；
The wireless magnetic sensing module of inclination angle type mainly includes inclination angle sensing submodule, magnetic sensing submodule and wireless data and sent
Submodule, the output of inclination angle sensing submodule and magnetic sensing submodule connects wireless data sending submodule respectively；The inclination angle
Sensing submodule is made up of acceleration transducer, signal conditioning circuit, the output connection signal conditioning circuit of acceleration transducer,
The output connection wireless data sending submodule of signal conditioning circuit；The magnetic sensing submodule includes signal control circuit, three
Axial magnetic sensor, multiway analog switch, programmable amplification and filter circuit, peak detection circuit and sampling and A/D change-over circuits,
Wherein the output of signal control circuit is electric with multiway analog switch, programmable amplification and filter circuit, sampling and A/D conversions respectively
Road and wireless data sending submodule are connected, magnetic sensor, multiway analog switch, programmable amplification and filter circuit, peak
Value detects that circuit and sampling and A/D change-over circuits order are telecom-connected, sampling and the output of A/D change-over circuits connection signal control
Circuit.
2. the inclination angle type electromagnetic tracking system as claimed in claim 1 for swallowing formula electronic capsule, it is characterised in that：It is described without line number
Portable data storage is provided according to transceiver module and data processing platform (DPP) monitors two ways in real time；Work as wireless data transceiver module
When being disconnected with the data wire of data processing platform (DPP), the multimedia that the data received are stored in wireless data transceiver module is deposited
In card storage, after end to be checked, disposably read in by card reader in data processing platform (DPP)；When wireless data transceiver module and data
Processing platform data wire connection when, the data received by cable real-time Transmission into data processing platform (DPP), after progress
Continuous processing.
3. the inclination angle type electromagnetic tracking system as claimed in claim 1 for swallowing formula electronic capsule, it is characterised in that：At the data
Platform uses the chaos ant colony algorithm of sequencing selection, and the Nonlinear System of Equations to azimuth information is solved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410078477.1A CN104887230B (en) | 2014-03-05 | 2014-03-05 | Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410078477.1A CN104887230B (en) | 2014-03-05 | 2014-03-05 | Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104887230A CN104887230A (en) | 2015-09-09 |
| CN104887230B true CN104887230B (en) | 2017-08-25 |
Family
ID=54020512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410078477.1A Expired - Fee Related CN104887230B (en) | 2014-03-05 | 2014-03-05 | Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104887230B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107158552B (en) * | 2016-03-07 | 2020-09-08 | 上海理工大学 | Drug delivery capsule and drug delivery method |
| CN105942959B (en) * | 2016-06-01 | 2018-08-24 | 安翰光电技术（武汉）有限公司 | Capsule endoscope system and its three-D imaging method |
| CN106109022B (en) * | 2016-07-21 | 2018-11-02 | 青岛市市立医院 | A kind of novel enteron lesion scope positioning device |
| CN107260110B (en) * | 2017-05-26 | 2019-06-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101375805A (en) * | 2007-12-29 | 2009-03-04 | 清华大学深圳研究生院 | Method and system for guiding operation of electronic endoscope by auxiliary computer |
| CN103006164A (en) * | 2012-12-13 | 2013-04-03 | 天津大学 | Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor |
| CN203749415U (en) * | 2014-03-05 | 2014-08-06 | 上海理工大学 | Wireless tracking device for digestive tract target objects |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050154277A1 (en) * | 2002-12-31 | 2005-07-14 | Jing Tang | Apparatus and methods of using built-in micro-spectroscopy micro-biosensors and specimen collection system for a wireless capsule in a biological body in vivo |
| US7354398B2 (en) * | 2003-07-18 | 2008-04-08 | Pentax Corporation | Capsule-type device and capsule-type device controlling system |
| JP4585048B2 (en) * | 2009-01-15 | 2010-11-24 | オリンパスメディカルシステムズ株式会社 | Endoscope system |
-
2014
- 2014-03-05 CN CN201410078477.1A patent/CN104887230B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101375805A (en) * | 2007-12-29 | 2009-03-04 | 清华大学深圳研究生院 | Method and system for guiding operation of electronic endoscope by auxiliary computer |
| CN103006164A (en) * | 2012-12-13 | 2013-04-03 | 天津大学 | Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor |
| CN203749415U (en) * | 2014-03-05 | 2014-08-06 | 上海理工大学 | Wireless tracking device for digestive tract target objects |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104887230A (en) | 2015-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104887230B (en) | Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule | |
| JP6491793B2 (en) | Handheld device for magnetic field induced tomography | |
| CN109451773A (en) | Method and apparatus for positioning the vehicles | |
| CN104603630B (en) | Magnetic resonance imaging system with the motion detection based on omniselector | |
| CN108205319A (en) | Movable objects and its control method | |
| CN110070056A (en) | Image processing method, device, storage medium and equipment | |
| CN108038459A (en) | A kind of detection recognition method of aquatic organism, terminal device and storage medium | |
| CN107065860B (en) | Fishery fishing oriented unmanned ship group cooperative self-organizing operation system and method | |
| CN110000785A (en) | Agriculture scene is without calibration robot motion's vision collaboration method of servo-controlling and equipment | |
| CN107977706A (en) | Modularized distribution type artificial neural network | |
| CN106415202A (en) | Location device and method for operating a location device | |
| CN112243698A (en) | Automatic walnut picking and collecting method based on multi-sensor fusion technology | |
| CN107577247A (en) | Target tracking system and method | |
| CN109551476A (en) | In conjunction with the robot system of cloud service system | |
| CN102405010A (en) | Subject internal examination system | |
| CN109840508A (en) | One robot vision control method searched for automatically based on the depth network architecture, equipment and storage medium | |
| CN111002846A (en) | Control method and system of unmanned aerial vehicle | |
| CN110260866A (en) | A kind of robot localization and barrier-avoiding method of view-based access control model sensor | |
| CN102499616A (en) | Acceleration transducer based three-dimensional magnetic field positioning system and method of endoscope probe | |
| CN106559750A (en) | Based on passive type location algorithm in the multiple target room of passive ultra-high frequency RFID | |
| CN203749415U (en) | Wireless tracking device for digestive tract target objects | |
| Almalı et al. | Wireless remote control of a mobile robot | |
| KR101296370B1 (en) | Tranceiver and power supply device for the underwater apparatus | |
| KR101656950B1 (en) | Fish robot clustering swimming apparatus and method using acoustic signal tracking | |
| Zhang et al. | An automatic control system for ratbot navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20200305 |