CN1287727C - In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract - Google Patents
In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract Download PDFInfo
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- CN1287727C CN1287727C CNB2004100931391A CN200410093139A CN1287727C CN 1287727 C CN1287727 C CN 1287727C CN B2004100931391 A CNB2004100931391 A CN B2004100931391A CN 200410093139 A CN200410093139 A CN 200410093139A CN 1287727 C CN1287727 C CN 1287727C
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- capsule
- wireless communication
- communication module
- magnetic field
- variable connector
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
The present invention relates to a digestive deglutition type out-of-body electromagnetic excitation positioning system for remotely measuring a capsule, which comprises a three-shaft magnetic field sensor sealed in a capsule, a signal processing module, a wireless communication module, three out-of-body annular coils excited by a magnetostatic field, and a out-of-body data recording instrument which is composed of an SCM control circuit, a constant current source circuit, a multiway switch, a wireless communication module, a memory and a power supply module. When the system works, the three annular coils are fixed on the body surface and orderly provided with exciting current by the data recording instrument to generate a magnetic field. The three-shaft magnetic field sensor in the capsule inside the human body orderly detects the magnetic induction density values of the three coils, and the magnetic induction density values are converted into digital signals by the signal processing circuit and emitted through the wireless communication module. The digital signals are received by the out-of-body data recording instrument and stored in the memory. After the capsule stops working, the position of the capsule at the moment is obtained by the computer according to three field intensity values corresponding to each moment. Thereby, the passing process and the passing time of the capsule in the human body are obtained, and further, the three-dimensional locus of the capsule in the human body is obtained.
Description
Technical field
The present invention relates to the capsular external navigation system of a kind of swallowing type, relate in particular to a kind of electromagnetism excitation mode that adopts, belong to Micro Electro Mechanical System or biomedical engineering technology field the navigation system that the miniature swallowing type radio pill of all-digestive tract carries out external tracking.
Background technology
Along with people's rhythm of life is accelerated constantly to change with dietary structure, the sickness rate of digestive tract function disease is elevated to first day by day.Modern science thinks that there is substantial connection in the pressure variation in digestive tract disease and the people's intestinal, since both at home and abroad medical circle for the unknown of healthy people's intestinal internal pressure correct value and to enteric cavity under the physiological status intrinsic pressure various variations do not understand, therefore lack fixedly objective indicator to the digestive tract disease diagnosis.Application number is that 021370540 Chinese invention patent has been introduced a kind of " all-digestive tract microcapsule non-invasive introduced diagnostic and examination system ", can be at no pain, do not have wound, need not to reflect under bowel relieving and the fasted conditions human body alimentary canal normal physiological, monitoring human all-digestive tract internal pressure, temperature, pH value and variation thereof in promptly 24 hours and food is the research by process in digestive tract.System is made up of miniature swallowing type radio pill, portable external reception and storage device, vitro data treating stations.In system's diagnosis and treatment process, determining the correspondence of position, realization monitoring numerical value and the digestive tract position of " miniature radio pill " each time period in digestive tract, is an essential condition of later data analysis, auxiliary diagnosis.The location of foreign body in vivo is generally adopted X line diascopy, B-mode ultrasonography method, radiosiotope to take a picture at present clinically and is located, above method all requires the subjects to carry out having in the hospital of certain condition, thereby bring a lot of inconvenience for subjects's daily life, work, limited its freedom of movement.The M2A capsule endoscope of Israel exploitation arranges that at the body surface place a plurality of antennas receive the wireless signal of capsule emission in the bodies, and strong and weak according to electromagnetic signal then and relation each other is by certain algorithm computation capsule position.The Smart Pill gastrointestinal tract that Smart Pill company produces detects capsule, utilization is through patient's pick off underwear on one's body and positions, and the reception antenna, electromagnetism excitation antenna, resonance magnetic test coil and the Radio Frequency Subsystem that are used for following the tracks of the capsule position are arranged in the pick off underwear.According to the signal that the pick off underwear receives, adopt neural network method to calculate capsule coordinate position in vivo and sensing angle.These two kinds of localization method utilizations all be the electromagnetic signal of capsule emission in the body, because human body is a kind of very complicated electromagnetic structure, propagation raying source position, the direction of electromagnetic wave in tissue, organize multiple factor affecting such as electromagnetic property, organizational structure, so do not have accurate quantitative corresponding relation between body surface place electromagnetic field intensity and the internal radiation source up to now.Utilize the electromagnetic method location to relate to the calculating of a large amount of electromagnetism direct problem simultaneously, make system structure complicated unusually, accurate positioning simultaneously and precision remain to be investigated.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, provide the miniature radio pill of a kind of all-digestive tract external tracing-positioning system, structure is simple relatively, and reliable operation can accurately be determined capsule any time position in vivo.
For realizing such purpose, the external tracing-positioning system of the miniature radio pill of all-digestive tract of the present invention comprises three-axle magnetic field pick off, signal processing module, the wireless communication module that is sealed in the capsule, the vitro data monitor that external three magnetostatic fields excite loop coil and are made up of single chip machine controlling circuit, constant-current source circuit, variable connector, wireless communication module, memorizer, power module.During system works, three loop coils are fixed on body surface and provide exciting curent to produce magnetic field successively by data logger, three-axle magnetic field pick off in the body in the capsule detects the magnetic induction value of three coils successively, convert digital signal to and, receive and be saved in memorizer by signal processing circuit by the vitro data monitor by the wireless communication module emission.After capsule quits work, obtain capsular position of this moment according to each three corresponding constantly field intensity value, and it is intravital by process and by the time the people to obtain capsule thus, and then obtains capsule three-dimensional track in vivo by computer.
Concrete structure of the present invention is divided in the body and external two parts, body comprises three-axle magnetic field pick off, signal processing module and a wireless communication module that is sealed in the capsule inner the branch, the three-axle magnetic field pick off is connected to signal processing module, the output of signal processing module connects wireless communication module, by wireless communication module to external transmission detection signal.Outer body then comprises three loop coils and the vitro data monitor that is used to produce magnetostatic field, and three loop coils are separately fixed at the relevant position of people's body surface, connect leads by three respectively and link to each other with the vitro data monitor.The vitro data monitor is by wireless communication module, single chip machine controlling circuit, constant-current source circuit, variable connector, memorizer, power module is formed, power module respectively and single chip machine controlling circuit, constant-current source circuit, variable connector, wireless communication module, memorizer links to each other and power supply is provided, constant-current source circuit is connected the input of variable connector, for variable connector provides constant exciting curent, single chip machine controlling circuit is connected with variable connector, single chip machine controlling circuit produces Multiplexer Channel and selects signal and variable connector to open, the closing control signal, the excitatory pulse signal of variable connector output passes to the corresponding annular coil respectively by connecting lead, single chip control module respectively and wireless communication module, memorizer links to each other, the reception of controlling magnetic field detection signal and preservation.
During system works: three loop coils are fixed on three positions of examiner's abdomen body-surface, and three loop coils are connected via wires to the vitro data monitor that its waist carries respectively.The tester swallows capsule.The vitro data monitor is by single chip machine controlling circuit, and the electric current that through variable connector constant-current source circuit is provided according to the numbering of coil is loaded into three loop coils successively.Owing to can produce magnetostatic field around the magnetic field effect of electric current, coil, the magnetic field sensor in the capsule detects three magnetic induction values that coil produced synchronously successively under the control of signal processing module.Signal processing circuit becomes digital signal with the analog signal conversion of magnetic field sensor output in the capsule, and repeated transmission is given the emission of the wireless communication module in the capsule, and the wireless communication module by the vitro data monitor receives and be saved in memorizer at last.After capsule was discharged in the body, the data of preserving in the memorizer with the vitro data monitor were read to computer.Three magnetic induction values that loop coil produced according to measure each position adopt numerical computation method to calculate each capsular position coordinates constantly with computer software.Can also determine at this point that capsule is intravital by process, by the time the people, and then calculate capsule three-dimensional track in vivo.
The present invention has following advantage: (1) localization method has utilized the characteristic of the non-magnetic conduction of tissue, and changing electromagnetic field detection is that magnetostatic field detects, and has avoided a large amount of uncertain factor influences, avoided the complex electromagnetic fields computational problem, with the magnetostatic field theory is foundation, and principle is reliable, the positioning accuracy height; (2) system structure is simple.The magnetic field sensor volume that adopts is little, low in energy consumption, and working method is simple.The external magnetic field has utilized the magnetic field effect of electric current, and the electric current that is passed to a certain size by coil produces, and magnetizer is simple in structure, and control is convenient, stability, good reproducibility; (3) intensity in work magnetic field can produce high-intensity magnetic field by the current intensity in loop coil decision, makes it be far longer than environmental magnetic field and earth's magnetic field, thereby has finely solved insurmountable environmental disturbances problem in the electromagnetic field localization method; (4) the present invention can not produce radiation risk to the human zero damage, and device carries convenient fixing, to people's work no any restriction of life and adverse effect.
Description of drawings
Fig. 1 is a capsule inner function module connection diagram in the body of the present invention.
Among Fig. 1, three-axle magnetic field pick off, signal processing module, wireless communication module are sealed in the capsule.
Fig. 2 is a system global structure sketch map of the present invention.
Among Fig. 2,1 is loop coil, and 2 for connecting lead, and 3 is the vitro data monitor, and 4 is capsule.
Fig. 3 is the composition of vitro data recorder of the present invention and and the connection diagram of coil thereof.
As shown in Figure 3, comprise power module, single chip machine controlling circuit, constant-current source circuit, variable connector, wireless communication module and memorizer in the vitro data monitor.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
The external tracing-positioning system of the miniature radio pill of all-digestive tract of the present invention is by forming with external two parts in the body, and body comprises a three-axle magnetic field pick off, signal processing module, the wireless communication module that is sealed in the capsule inner the branch, as shown in Figure 1.The three-axle magnetic field pick off is connected to signal processing module, and the output of signal processing module connects wireless communication module, by wireless communication module to external transmission detection signal.
Outer body of the present invention comprises three loop coils 1 and the vitro data monitor 3 that are used to produce magnetostatic field shown in the overall construction drawing of Fig. 2.Three loop coils 1 are separately fixed at the relevant position of people's body surface, connect lead 2 by three respectively and link to each other with vitro data monitor 3, and vitro data monitor 3 is fixed on people's the waist belt.Capsule 4 enters in the body from human body alimentary canal.
The composition of vitro data monitor 3 is made up of wireless communication module, single chip machine controlling circuit, constant-current source circuit, variable connector, memorizer, power module as shown in Figure 3.Power module respectively with single chip machine controlling circuit, constant-current source circuit, variable connector, wireless communication module, memorizer is connected to them that power supply is provided, constant-current source circuit is connected the input of variable connector, for variable connector provides constant exciting curent.Single chip machine controlling circuit is connected with variable connector, and single chip machine controlling circuit produces Multiplexer Channel selection signal and variable connector is opened, the closing control signal.The excitatory pulse signal of variable connector output passes to the corresponding annular coil respectively by connecting lead.Single chip control module links to each other with wireless communication module, memorizer respectively, the reception of controlling magnetic field detection signal and preservation.
The concrete work process of external navigation system of the present invention is as follows: (1) is fixed on three positions of those who are investigated's abdomen body-surface with three in order to the loop coil 1 that produces the external magnetic field, and vitro data monitor 3 is fixed on those who are investigated's the waist belt, three loop coils 1 are connected to vitro data monitor 3 through connecting lead 2 respectively.(2) capsule is swallowed from the oral cavity, press vitro data monitor on and off switch, single chip machine controlling circuit sends Multiplexer Channel and selects signal and break-make control signal to give variable connector, the constant exciting curent from constant-current source output that is added in the variable connector input so just offers 3 loop coils successively through variable connector, inspires magnetostatic field around human body.(3) magnetic induction at its place, position of the three-axle magnetic field sensor in the capsule, and sample successively by the signal processing module in the capsule, convert digital signal to through A/D, send the wireless communication module modulate emission in the capsule to.(4) the vitro data monitor receives the magnetic field detection signal and the time value of capsule emission and is kept in the memorizer in the monitor.(5) after capsule was discharged in the body, vitro data monitor alarm turn-offed the data logger power supply, takes off loop coil and data logger.(6) by card reader the data of preserving in the vitro data monitor memorizer are read in computer, obtain three magnetic induction values that loop coil produced and corresponding time value in each sampling period.(7) according to three magnetic induction values in each sampling period, solve each capsule position in vivo constantly with numerical computation method by computer software.(8) behind each positional information constantly of acquisition capsule, it is intravital by process, by the time the people to understand capsule on the whole, and then depicts capsule three-dimensional track in vivo.
Know-why of the present invention
The little current loop in space, radius is a, considers the magnetic field that this electric current loop produces in the r place, if r＞＞a, then this electric current loop just is equivalent to the effect of a magnetic dipole.The magnetic dipole magnetic induction regularity of distribution that the space produced around that optional position, space r ' (x ', y ', z ') locates to point to arbitrarily is:
R＝r-r′
Wherein: r ' (x ', y ', z ') be the magnetic dipole center position coordinates, (x, y z) are a point coordinates to r.R is the vector distance between magnetic dipole and the measurement point, and its direction is by source point direction field point.M is a magnetic moment.
A three-axle magnetic field pick off is installed in capsule, and three magneto-dependent sensor measurable spaces are the three-dimensional component in the magnetic field of any and the direction vector in this magnetic field arbitrarily.At the body surface place three loop coils are set, after to the loop coil loading current, annular current-carrying coil just can be regarded a magnetic dipole as.With three-axle magnetic field center sensor in the capsule is initial point, and three direction of principal axis of pick off are that coordinate axes is set up reference frame { x ' y ' z ' }.Investigate the magnetic induction that external annular current-carrying coil produces in the pick off place.With the human umbilical region is initial point, and level is to the right the x axle, sets up fundamental coordinate system { xyz} for the y axle vertically upward.In fundamental coordinate system, position, the direction of each coil are fixed, and the coordinate of supposing known i coil is (x
i, y
i, z
i), the magnetic moment that the energising back produces is m
i={ m
Ix, m
Iy, m
Iz.If the coordinate of a certain moment center sensor in fundamental coordinate system is (x
0, y
0, z
0), then magnetic dipole i is determined by formula (1) at the magnetic induction that this point is produced, and is designated as B '
i=B '
Ix, B '
Iy, B '
Iz, respectively along x, y, z direction.
B′
i＝{B′
ix，B′
iy，B′
iz}＝f(x
0，y
0，z
0)
When if loop coil i is energized, the measured field intensity of three-axle magnetic field pick off is B
i={ B
Xi, B
Yi, B
Zi, respectively along x ', y ', z ' direction.Need for this reason that resolution of vectors becomes B ' to reference frame with toroidal magnetic field
i=B '
Ix', B '
Iy', B '
Iz'.If this moment fundamental coordinate system is T with respect to the spin matrix of reference frame, { z forms with respect to the direction cosines of reference frame { x ' y ' z ' } T for three master vector x of xyz}, y by fundamental coordinate system.
In the formula, r
1, r
2, r
3All be unit vector, and vertical mutually in twos, therefore satisfy 6 constraintss (orthogonality condition), having only 3 elements is independently, with (r
1, r
2, r
3) representative.
Then:
B′
ix′＝f(x
0，y
0，z
0，r
1，r
2，r
3)
As seen each measured magnetic field strength component of magnetic field sensor all is to represent 6 unknown parameter (x of capsule position and direction
0, y
0, z
0, r
1, r
2, r
3) function.Therefore necessary for this reason these 6 parameters of 6 above equation solutions of simultaneous are provided with three loop coils at body surface.
Claims (2)
1, the external electromagnetism excitation-type of a kind of all-digestive tract swallowing type radio pill navigation system, by forming with external two parts in the body, it is characterized in that body comprises three-axle magnetic field pick off, signal processing module and a wireless communication module that is sealed in the capsule inner the branch, the three-axle magnetic field pick off is connected to signal processing module, the output of signal processing module connects wireless communication module, by wireless communication module to external transmission detection signal; Outer body comprises three loop coils (1) and the vitro data monitor (3) that is used to produce magnetostatic field, and three loop coils (1) are separately fixed at the relevant position of people's body surface, connects lead (2) by three respectively and links to each other with vitro data monitor (3); The vitro data monitor is by wireless communication module, single chip machine controlling circuit, constant-current source circuit, variable connector, memorizer and power module are formed, power module respectively and single chip machine controlling circuit, constant-current source circuit, variable connector, wireless communication module, memorizer links to each other and power supply is provided, constant-current source circuit is connected the input of variable connector, for variable connector provides constant exciting curent, single chip machine controlling circuit is connected with variable connector, single chip machine controlling circuit produces Multiplexer Channel and selects signal and variable connector to open, the closing control signal, the excitatory pulse signal of variable connector output passes to the corresponding annular coil respectively by connecting lead, single chip control module respectively and wireless communication module, memorizer links to each other, the reception of controlling magnetic field detection signal and preservation; The memorizer of described vitro data monitor connects computer by card reader, solve each capsule position in vivo constantly by computer according to three magnetic induction values that loop coil produced of each sampling instant, and it is intravital by process and by the time the people to obtain capsule thus, and then obtain capsule three-dimensional track in vivo.
2, according to the external electromagnetism excitation-type of the all-digestive tract swallowing type radio pill navigation system of claim 1, it is characterized in that described vitro data monitor carries out alarm when capsule excretes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100931391A CN1287727C (en) | 2004-12-16 | 2004-12-16 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100931391A CN1287727C (en) | 2004-12-16 | 2004-12-16 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
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| Publication Number | Publication Date |
|---|---|
| CN1620985A CN1620985A (en) | 2005-06-01 |
| CN1287727C true CN1287727C (en) | 2006-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100931391A Expired - Fee Related CN1287727C (en) | 2004-12-16 | 2004-12-16 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
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Cited By (1)
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| CN102499685A (en) * | 2011-09-28 | 2012-06-20 | 上海交通大学 | Total digestive tract emptying non-invasive examination system and treatment method of examination results |
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| CN101690662B (en) * | 2009-10-15 | 2011-01-05 | 上海交通大学 | Tracking and positioning method of gastrointestinal tract internal microsystems |
| CN102462891B (en) * | 2010-11-17 | 2015-05-20 | 苏州景昱医疗器械有限公司 | Remote implantable medical device monitoring system and remote implantable medical device monitoring method |
| CN102160773B (en) * | 2011-03-04 | 2013-07-17 | 上海交通大学 | In-vitro magnetic control sampling capsule system based on digital image guidance |
| CN102500057B (en) * | 2011-09-28 | 2014-02-26 | 上海交通大学 | Multifunctional implanted gastrointestinal electrical stimulation system |
| CN103356150A (en) * | 2012-03-29 | 2013-10-23 | 上海理工大学 | Capsule endoscope magnetic field driving system under orientation tracking guide |
| CN103908216A (en) * | 2014-04-10 | 2014-07-09 | 重庆金山科技（集团）有限公司 | Capsule endoscope system with magnetic field positioning function and capsule endoscope of capsule endoscope system |
| EP3166490B1 (en) * | 2014-07-10 | 2022-11-16 | Given Imaging Ltd. | Sensor belt configured to localize an in-vivo device and method for localization |
| CN104323778B (en) * | 2014-11-03 | 2016-10-05 | 上海交通大学 | Non-invasive detection system positioner in colonic lumen |
| CN104706307A (en) * | 2015-03-23 | 2015-06-17 | 朱玉森 | Non-involvement type examining and inspecting system for digestive tract |
| CN105559770B (en) * | 2015-12-20 | 2018-05-25 | 华南理工大学 | Nei Tan formulas biological tissue magnetic distribution map measuring device |
| CN108042094B (en) * | 2017-12-22 | 2024-02-13 | 宜宾学院 | Positioning system and positioning method for freedom degree of wireless capsule endoscope 5 |
| CN117598680B (en) * | 2024-01-23 | 2024-05-07 | 辽宁嘉玉科技有限公司 | Magnetic particle magnetization sensing distance measuring device and method |
-
2004
- 2004-12-16 CN CNB2004100931391A patent/CN1287727C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499685A (en) * | 2011-09-28 | 2012-06-20 | 上海交通大学 | Total digestive tract emptying non-invasive examination system and treatment method of examination results |
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