CN101690662B - Tracking and positioning method of gastrointestinal tract internal microsystems - Google Patents
Tracking and positioning method of gastrointestinal tract internal microsystems Download PDFInfo
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- CN101690662B CN101690662B CN200910197190XA CN200910197190A CN101690662B CN 101690662 B CN101690662 B CN 101690662B CN 200910197190X A CN200910197190X A CN 200910197190XA CN 200910197190 A CN200910197190 A CN 200910197190A CN 101690662 B CN101690662 B CN 101690662B
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- gastrointestinal tract
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- tract internal
- positioning
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Abstract
The invention relates to a tracking and positioning method of gastrointestinal tract internal microsystems, which belongs to the technical field of electronic communication. In the method, a dynamic radio-frequency attenuation model is built by combining a three-edge positioning method and a region analysis method; influences brought by the low-quality radio-frequency signal reception by a certain radio-frequency receiving module or the radio-frequency receiving modules in a certain area are avoided and the positioning reliability of the system is improved by placing a radio-frequency receiving module array in part of regions in the stomach of a human body; and the information on the sliding of gastrointestinal tract internal microsystems in the gastrointestinal tract of the human body isreflected and the positioning and tracking accuracy is improved by taking the intensity of the effective receiving power of the regions in the gastrointestinal tract of the human body into consideration and by setting different weighting coefficients for the regions.
Description
Technical field
What the present invention relates to is the method in a kind of electronic communication field, specifically is a kind of method for tracking and positioning of gastrointestinal tract internal microsystems.
Background technology
Development along with technology such as microelectric technique, MEMS (microelectromechanical systems) technology, robotics, radio communications, gastrointestinal tract internal microsystems has no wound, advantage such as easy and simple to handle owing to enter the various tracts of human body, has become the research focus and the developing direction of modern medical equipment.Yet in medical applications, doctors are when using gastrointestinal tract internal microsystems, often need to know the definite position of these diagnosis and treatment instruments in the patient body, yet this often can not obtain by direct method, so the noinvasive track and localization of gastrointestinal tract internal microsystems is to need one of key technology that solves during these miniature insertion type medical apparatus and instruments are used.
Because gastrointestinal tract internal microsystems all is based on wireless mode and collects pH value to external transmission, pressure, physiological parameter and image informations such as temperature, therefore can remove to follow the tracks of the track of motion in vivo of gastrointestinal tract internal microsystems according to the variation of RF signal strength, promptly based on the track and localization of the RSSI RF signal strength of the reception (indication), this method need not increase the structure on the gastrointestinal tract internal microsystems hardware, and is less to the human injury, and therefore stronger practicality and operability are arranged.
Three limit positioning modes of extensive application on the target localization in wireless sensor network are adopted in the research that this method is carried out at present more, the prerequisite of this method is based on range finding, promptly pass through stationary nodes, reception from the node that moves and carry radiofrequency signal emit can represent apart from or the information of the concrete physical quantity in orientation determine the position of mobile node, therefore to the three limit positioning modes of gastrointestinal tract internal microsystems employing based on RF signal strength, determine its three-dimensional position, a very crucial step, the RF signal strength of the reaction received RF power that receives to be converted into range information exactly, this will accurately set up the attenuation model that radiofrequency signal is propagated at human body, adjust the distance and the power of received RF is set up clear and definite relation.
The problem of present technical existence is: human body is a complex environment, the gastrointestinal system of human body, by stomach, a plurality of histoorgans such as small intestinal and large intestine constitute, and each histoorgan of human body all has nothing in common with each other for the dielectric constant and the conductivity of radiofrequency signal, cause radiofrequency signal to be propagated at each position of tissue, can the property of there are differences, even if same histoorgan, also may there be the interference of multipath, and As time goes on gastrointestinal tract internal microsystems constantly slides in human body alimentary canal, therefore, be difficult to accurately the whole gastrointestinal tract of human body to be set up corresponding rf attenuation model, this just causes using three limit positioning modes, and to carry out the error ratio of track and localization bigger.
Through existing literature search is found, Arshak.K and Adepoju.F are in " AModel for Estimating the Real-Time Positions of a moving Object inWireless Telemetry Applications using RF Sensors.Sensors ApplicationsSymposium (a kind of method model that utilizes the radio frequency sensor array wireless remote-measuring system to be carried out real-time positioning) " literary composition of delivering in 2007, whole gastrointestinal tract to human body has adopted a simple static rf attenuation model, be provided with four radio frequency receiving nodes, but do not consider each regional diversity of human gastrointestinal tract, make that the reliability of navigation system and location are lower with the ratio of precision of following the tracks of.
Summary of the invention
The objective of the invention is to deficiency and defective, propose a kind of method for tracking and positioning of gastrointestinal tract internal microsystems at the prior art existence.The present invention has set up a kind of dynamic gastrointestinal tract rf attenuation model by three limit positioning modes and regional analysis method are combined, and has improved reliability and the location and the precision of following the tracks of of navigation system.
The present invention is achieved by the following technical solutions, and concrete steps are as follows:
The first step, composition according to human gastrointestinal tract, abdominal part is divided into several zones, and four Receiver Modules are set in each zone, on human body, set up the reference coordinate system, note the distance of the coordinate of four Receiver Modules in each zone, four radio frequency receiving interblocks respectively and four RF signal strength values that Receiver Module receives in the same time period.
Described reference coordinate system be with the human body umbilicus be zero, perpendicular to body surface and to point to intravital direction be z axle positive direction, the direction that is parallel to spinal column and points to head is x axle positive direction, be y axle positive direction perpendicular to spinal column and the direction that is parallel to body surface and points to left hand.
In second step, the received RF signal intensity level that four Receiver Modules in each zone are obtained in the section at one time transforms by gross error processing, mean filter and power that to obtain with dBm be effective received power of unit.
The 3rd step, the rf attenuation model is set up in each zone, be specially:
P '=A-10nLog
10(d)+S (formula one)
Wherein: what P ' expression Receiver Module received is effective received power of unit with dBm, A is that what to be received when Receiver Module is apart from 1 meter of gastrointestinal tract internal microsystems in this zone is effective received power of unit with dBm, n is an attenuation quotient, d is the distance between Receiver Module and gastrointestinal tract internal microsystems, and S is to be the error power of unit with dBm.
Described A, n and S simulate the human body environment by experiment in vitro, are obtained by the mass data match of obtaining.
The 4th goes on foot, and utilizes effective received power of four Receiver Modules in each regional rf attenuation model and this zone, calculates each interior Receiver Module of each zone respectively to the distance between the gastrointestinal tract internal microsystems.
The 5th step, in each zone, adopt three limit positioning modes, utilize the coordinate of known four Receiver Modules and mutual distance and the distance between each Receiver Module and the gastrointestinal tract internal microsystems thereof to calculate by each interior four position coordinates that Receiver Module is the gastrointestinal tract internal microsystems of reference mode in zone.
The 6th the step, according to each the zone interior four Receiver Modules effective received power calculate each regional weight coefficient.
Described region weight coefficient is the ratio of the effective received power sum in effective received power in this zone and each zone.
In the 7th step, the position coordinates of the gastrointestinal tract internal microsystems that each zone is calculated and the weight coefficient weighted sum of corresponding region obtain the accurate position coordinates of interior gastrointestinal tract internal microsystems of this time period.
The 8th step in different time sections, repeated above-mentioned seven steps successively, obtained the accurate position coordinates of the gastrointestinal tract internal microsystems in the different time sections, and then drew the movement locus figure of gastrointestinal tract internal microsystems in human gastrointestinal tract.
Compared with prior art, the beneficial effect that the present invention has is: at the subregional placement radio frequency receiving of human abdomen block array, avoided receiving the influence that relatively poor radiofrequency signal is brought, improved the reliability of positioning of system owing to certain Receiver Module or Receiver Module that certain is regional; Effective received power by considering each zone of human gastrointestinal tract strong and weak different give each zone different weight coefficients, have reacted the information that gastrointestinal tract internal microsystems slides in human gastrointestinal tract, have improved location and the precision of following the tracks of.
The specific embodiment
Below in conjunction with accompanying drawing method of the present invention is further described, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The gastrointestinal tract internal microsystems that the experimental subject human body is eaten in the present embodiment is a capsule endoscope, gastrointestinal tract is divided into four zones, be respectively territory, gastric area, small intestinal zone, colon regions and large intestine zone, place four Receiver Modules respectively in corresponding four positions of the abdominal part of experimental subject human body, Receiver Module is passed to the information that obtains portable data acquisition and the storage device that is worn on experimental subject human body waist location.Experiment is passed to computer with the information in portable data acquisition and the storage device after finishing, and computer draws capsule endoscope at the intravital movement locus figure of experimental subject people by analytical calculation.
Described Receiver Module comprises the CC1100 communication chip, can directly obtain the RF signal strength that Receiver Module receives from the depositor of this chip.
Specify the tracking and positioning of present embodiment below:
The first step, with the human body umbilicus be zero, perpendicular to body surface and to point to intravital direction be z axle positive direction, the direction that is parallel to spinal column and points to head is x axle positive direction, be that y axle positive direction is set up the reference coordinate system perpendicular to spinal column and the direction that is parallel to body surface and points to left hand, note the distance of the coordinate of four Receiver Modules in each zone, four radio frequency receiving interblocks respectively and four RF signal strengths that Receiver Module receives in the same time period.
With the territory, gastric area is example, and establishing four Receiver Modules that are placed on the territory, gastric area is respectively R
1Module, R
2Module, R
3Module and R
4Module, R
1The coordinate of module is (x
1, y
1, z
1), R
2The coordinate of module is (x
2, y
2, z
2), R
3The coordinate of module is (x
3, y
3, z
3), R
4The coordinate of module is (x
4, y
4, z
4), R
1Module is to R
2The distance of module is r
12, R
1Module is to R
3The distance of module is r
13, R
1Module is to R
4The distance of module is r
14, R
2Module is to R
3The distance of module is r
23, R
2Module is to R
4The distance of module is r
24, R
3Module is to R
4The distance of module is r
34, R
1The received RF signal intensity of module is P
1, R
2The received RF signal intensity of module is P
2, R
3The received RF signal intensity of module is P
3, R
4The received RF signal intensity of module is P
4
In second step, the RF signal strength value that four Receiver Modules in each zone are received in the section at one time transforms by gross error processing, mean filter and power that to obtain with dBm be effective received power of unit.
In the process that radiofrequency signal is propagated in medium, can there be multipath effect, and be subjected to external interference easily, have influence on the stability of the radio frequency intensity level that receives, especially capsule endoscope has one section retention effects in the slip of human body alimentary canal, in the less time period, the position does not have to change substantially, but the RF signal strength value that receives, may there be bigger disturbance, therefore be necessary to handle and mean filter, obtain stabilizing effective RF signal strength, simultaneously because the RSSI value that radio-frequency module adopts the CC1100 radio frequency chip to obtain by gross error, it is a binary numeral, so be necessary by corresponding power conversion formula, being converted into dBm is the effective power value of unit, is more conducive to the Treatment Analysis of back.
With the territory, gastric area is example, the received signal intensity P that obtains in than minor time slice
1, P
2, P
3And P
4Transforming the effective received power that obtains through gross error processing, mean filter and power respectively is P
1', P
2', P
3' and P
4'.
The 3rd step, the rf attenuation model is set up in each zone, the concrete model formula is:
P '=A-10nLog
10(d)+S (formula one)
Wherein: what P ' expression Receiver Module received is effective received power of unit with dBm, to be Receiver Module receive when 1 meter of distance capsule endoscope A is effective received power of unit with dBm, n is the attenuation quotient of Receiver Module region, d is the distance between Receiver Module and capsule endoscope, and S is to be the effective error power of unit with dBm.
Described n, A determine by different regional environments with S, the n of zones of different, A are different with S, n, the A in same zone are identical with S, so can be by selecting dielectric constant and the conductivity solution environmental consistent for use or adopting the organ that exsomatizes as subjects with this regional environment, obtain great number tested data, the above parameter of match.
With the territory, gastric area is example, with stripped animal stomach is subjects, capsule endoscope is put into wherein, the distance of the Receiver Module of control capsule endoscope and outside, obtain effective received power of Receiver Module under the different distance, the method for employing linear fit obtains the rf attenuation model in territory, gastric area.
The 4th step, utilize each regional rf attenuation model, calculate each interior Receiver Module of each zone to the distance between the capsule endoscope.
With the territory, gastric area is example, in the effective power value substitution formula one that four Receiver Modules in the 3rd this zone of obtaining of step are received, calculates: R
1Module is r to the distance of capsule endoscope
1, R
2Module is r to the distance of capsule endoscope
2, R
3Module is r to the distance of capsule endoscope
3, R
4Module is r to the distance of capsule endoscope
4
The 5th step, in each zone, adopt three limit positioning modes, utilizing the coordinate of known four Receiver Modules and mutual distance thereof and the distance between each Receiver Module and the capsule endoscope to calculate by four Receiver Modules in this zone is the position coordinates of the capsule endoscope that obtains of reference mode.
With the territory, gastric area is example, establish capsule endoscope by four Receiver Modules in the territory, gastric area be reference mode calculate be position coordinates be (x, y, z), then:
Wherein: r
1 2=(x-x
1)
2+ (y-y
1)
2+ (z-z
1)
2, r
2 2=(x-x
2)
2+ (y-y
2)
2+ (z-z
2)
2, r
3 2=(x-x
3)
2+ (y-y
3)
2+ (z-z
3)
2, r
4 2=(x-x
4)
2+ (y-y
4)
2+ (z-z
4)
2
Can solve the numerical value of x, y, z by formula two, promptly obtained capsule endoscope by four Receiver Modules in the territory, gastric area be reference mode calculate be position coordinates be (x, y, z).
In like manner can get: to capsule endoscope by four Receiver Modules in the small intestinal zone be the position coordinates that calculates of reference mode (x ', y ', z '), capsule endoscope by four Receiver Modules in the colon regions be the position coordinates that calculates of reference mode (x "; y " z ") and capsule endoscope are the position coordinates that calculates of reference mode (x " ', y " ', z " ') by four Receiver Modules in the large intestine zone.
The 6th the step, according to each the zone interior four Receiver Modules effective received power calculate each regional weight coefficient.
Described weight coefficient is the ratio of the effective received power sum in effective received power in this zone and each zone.
If effective received power in territory, gastric area is P
Stomach, effective received power in small intestinal zone is P
Small intestinal, effective received power of colon regions is P
Colon, the large intestine zone to effective received power be P
Large intestine, then:
The weight coefficient W in territory, gastric area
Stomach=P
Stomach/ (P
Stomach+ P
Small intestinal+ P
Colon+ P
Large intestine),
The weight coefficient W in small intestinal zone
Small intestinal=P
Small intestinal/ (P
Stomach+ P
Small intestinal+ P
Colon+ P
Large intestine),
The weight coefficient W of colon regions
Colon=P
Colon/ (P
Stomach+ P
Small intestinal+ P
Colon+ P
Large intestine),
The weight coefficient W in large intestine zone
Large intestine=P
Large intestine/ (P
Stomach+ P
Small intestinal+ P
Colon+ P
Large intestine).
The 7th step was the position coordinates that calculates of reference mode and the weight coefficient weighted sum of corresponding region with capsule endoscope by each interior four Receiver Module in zone, obtain this hose lining capsule endoscope time accurate position coordinates (X, Y, Z), i.e. X=x*W
Stomach+ x ' * W
Small intestinal+ x " * W
Colon+ x " ' * W
Large intestine, Y=y*W
Stomach+ y ' * W
Small intestinal+ y " * W
Colon+ y " ' * W
Large intestine, Z=z*W
Stomach+ z ' * W
Small intestinal+ z " * W
Colon+ z " ' * W
Large intestine
The 8th step, in different time sections, repeat above-mentioned seven steps successively, obtain the accurate position coordinates of the capsule endoscope in the different time sections, draw capsule endoscope at the intravital movement locus figure of experimental subject people by the accurate position coordinates of the capsule endoscope that obtains.
Present embodiment is divided into four zones by the gastrointestinal tract with the experimental subject human body, four Receiver Modules are all placed in each zone, avoided receiving the influence that relatively poor radiofrequency signal is brought, improved the reliability of positioning of system owing to certain Receiver Module or Receiver Module that certain is regional; By considering effective received power power in four zones, give each zone different weight coefficients, reflected the information that capsule endoscope slides in human gastrointestinal tract, improved location and the precision of following the tracks of.
Claims (5)
1. the method for tracking and positioning of a gastrointestinal tract internal microsystems is characterized in that, concrete steps are:
The first step, composition according to human gastrointestinal tract, abdominal part is divided into several zones, and four Receiver Modules are set in each zone, on human body, set up the reference coordinate system, note the distance of the coordinate of four Receiver Modules in each zone, four radio frequency receiving interblocks respectively and four RF signal strength values that Receiver Module receives in the same time period;
In second step, the RF signal strength value that four Receiver Modules in each zone are received in the section at one time transforms by gross error processing, mean filter and power that to obtain with dBm be effective received power of unit;
The 3rd step, the rf attenuation model is set up in each zone, be specially: P '=A-10nLog
10(d)+S,
Wherein: what P ' expression Receiver Module received is effective received power of unit with dBm, A is that what to be received when Receiver Module is apart from 1 meter of gastrointestinal tract internal microsystems in this zone is effective received power of unit with dBm, n is the attenuation quotient of Receiver Module region, d is the distance between Receiver Module and gastrointestinal tract internal microsystems, and S is to be the effective error power of unit with dBm;
The 4th goes on foot, and utilizes effective received power of four Receiver Modules in each regional rf attenuation model and this zone, calculates each interior Receiver Module of each zone respectively to the distance between the gastrointestinal tract internal microsystems;
The 5th step, in each zone, adopt three limit positioning modes, utilize the coordinate of known four Receiver Modules and mutual distance and the distance between each Receiver Module and the gastrointestinal tract internal microsystems thereof to calculate by each interior four position coordinates that Receiver Module is the gastrointestinal tract internal microsystems of reference mode in zone;
The 6th the step, according to each the zone interior four Receiver Modules effective received power calculate each regional weight coefficient;
In the 7th step, the position coordinates of the gastrointestinal tract internal microsystems that each zone is calculated and the weight coefficient weighted sum of corresponding region obtain the accurate position coordinates of interior gastrointestinal tract internal microsystems of this time period;
The 8th step repeated above-mentioned seven steps successively, obtained the accurate position coordinates of the gastrointestinal tract internal microsystems in each time period.
2. according to the method for tracking and positioning of the described gastrointestinal tract internal microsystems of claim 1, it is characterized in that described several zones of the first step comprise: territory, gastric area, small intestinal zone, colon regions and large intestine zone.
3. the method for tracking and positioning of gastrointestinal tract internal microsystems according to claim 1 is characterized in that, the 3rd the step described A, n and S simulate the human body environment by experiment in vitro, obtain by the mass data match of obtaining.
4. the method for tracking and positioning of gastrointestinal tract internal microsystems according to claim 1 is characterized in that, the ratio of effective received power that described each regional weight coefficient of the 6th step is this zone and effective received power sum in each zone.
5. the method for tracking and positioning of gastrointestinal tract internal microsystems according to claim 1 is characterized in that, described gastrointestinal tract internal microsystems is a capsule endoscope.
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|---|---|---|---|
| CN200910197190XA CN101690662B (en) | 2009-10-15 | 2009-10-15 | Tracking and positioning method of gastrointestinal tract internal microsystems |
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| CN101690662A CN101690662A (en) | 2010-04-07 |
| CN101690662B true CN101690662B (en) | 2011-01-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014124581A1 (en) * | 2013-02-16 | 2014-08-21 | 深圳市资福技术有限公司 | Capsule endoscope detection apparatus and detection method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109717822A (en) * | 2019-03-04 | 2019-05-07 | 上海长海医院 | A kind of capsule enteroscope aided positioning system |
| CN110292347B (en) * | 2019-07-24 | 2022-06-03 | 河南省人民医院 | Auxiliary examination device for digestive system department |
| CN112244737A (en) * | 2020-10-19 | 2021-01-22 | 重庆金山医疗器械有限公司 | Capsule positioning method, device and system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1620985A (en) * | 2004-12-16 | 2005-06-01 | 上海交通大学 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
| CN1803094A (en) * | 2005-12-01 | 2006-07-19 | 上海交通大学 | Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker |
-
2009
- 2009-10-15 CN CN200910197190XA patent/CN101690662B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1620985A (en) * | 2004-12-16 | 2005-06-01 | 上海交通大学 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
| CN1803094A (en) * | 2005-12-01 | 2006-07-19 | 上海交通大学 | Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2005-52252A 2005.03.03 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014124581A1 (en) * | 2013-02-16 | 2014-08-21 | 深圳市资福技术有限公司 | Capsule endoscope detection apparatus and detection method |
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