CN105962879A - Pose control system and control method of capsule endoscope and capsule endoscope - Google Patents

Pose control system and control method of capsule endoscope and capsule endoscope Download PDF

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Publication number
CN105962879A
CN105962879A CN 201610259254 CN201610259254A CN105962879A CN 105962879 A CN105962879 A CN 105962879A CN 201610259254 CN201610259254 CN 201610259254 CN 201610259254 A CN201610259254 A CN 201610259254A CN 105962879 A CN105962879 A CN 105962879A
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capsule endoscope
magnetic field
capsule
sensor
position
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CN 201610259254
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Chinese (zh)
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梁东
袁建
李彦俊
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重庆金山科技(集团)有限公司
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments 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
    • A61B1/041Capsule endoscopes for imaging
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments 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
    • A61B1/045Control therefor

Abstract

The invention discloses a pose control system and a control method of an capsule endoscope and the capsule endoscope. The capsule endoscope comprises a capsule shell and a magnetic body which is arranged in the capsule shell, wherein an optical front cover is arranged at the front end of the capsule shell; a lens, which faces the optical front cover and is used for collecting image information, and an image sensor, which is connected to the lens, are arranged in the capsule shell; an image processor and a signal transmission module are additionally arranged in the capsule shell; the image processor is connected to the image sensor and the signal transmission module; a magnetic field sensor and a motion sensor are additionally arranged in the capsule shell; both the magnetic field sensor and the motion sensor are connected to the signal transmission module; and a battery module, which is connected to the image sensor, the image processor, the signal transmission module, the magnetic field sensor and the motion sensor, is additionally arranged in the capsule shell. The motion of the capsule endoscope is controlled by exerting force to the magnetic body; and the pose of the capsule endoscope is precisely returned through the co-action of the magnetic field sensor and the motion sensor.

Description

胶囊内窥镜的位姿控制系统、控制方法及胶囊内窥镜 Pose of the capsule endoscope control system, and control method of the capsule endoscope

技术领域 FIELD

[0001]本发明涉及医疗器械领域,特别是涉及一种胶囊内窥镜的位姿控制系统、控制方法及胶囊内窥镜。 [0001] The present invention relates to the field of medical devices, in particular, it relates to a capsule endoscope control system of the pose, and the control method of the capsule endoscope.

背景技术 Background technique

[0002]随着科学技术的进步,医疗器械也得到了很大的发展,其中,胶囊内窥镜作为诊断消化道疾病的器械,由于无痛、无交叉感染、不影响患者的正常生活或工作等优点,得到了广泛的运用。 [0002] With the advancement of science and technology, medical devices has been greatly developed, which capsule endoscopy as a diagnostic instrument gastrointestinal disease, due to the no pain, no cross-infection, without affecting the normal life of the patient or work etc., it has been widely used.

[0003]胶囊内窥镜位姿的全自动控制一直是医疗器械领域的一个难点。 [0003] automatic control of position and orientation of the capsule endoscope has been a difficulty in medical devices. 想要实现胶囊内窥镜位姿的自动控制,主要有两方面的问题需要解决:一是位姿控制的动力来源,一是胶囊内窥镜定位与位姿的反馈。 Want to achieve automatic control of the capsule endoscope pose, there are two issues need to be addressed: First, the power source attitude control bits, one capsule endoscope positioning and posture of feedback. 目前,采用磁场对胶囊内窥镜内部安装的小磁体进行牵引,从而解决了胶囊内窥镜的位姿控制的动力问题。 Currently, the use of small magnetic field inside the capsule endoscope mounted is pulled, thereby solving the problem of the power of the capsule endoscope position and orientation control. 然而,只是采用磁场并不能有效得出胶囊内窥镜的位姿。 However, except that the magnetic field can not effectively draw the posture of the capsule endoscope.

[0004]因此,如何能够实现对胶囊内窥镜的精确定位以及得到其位姿,是本领域技术人员急需解决的技术问题。 [0004] Accordingly, how to achieve precise positioning of the capsule endoscope and the position and orientation thereof obtained, the skilled person need to solve the technical problems.

发明内容 SUMMARY

[0005]本发明的目的是提供一种胶囊内窥镜的位姿控制系统、控制方法及胶囊内窥镜,可以实现对胶囊内窥镜的精确定位以及得到其位姿。 [0005] The object of the present invention is to provide a position and orientation of the capsule endoscope control system, and control method of the capsule endoscope, allows accurate positioning of the capsule endoscope as well as its position and orientation obtained.

[0006]为解决上述技术问题,本发明提供了如下技术方案: [0006] In order to solve the above technical problem, the present invention provides the following technical solutions:

[0007] —种胶囊内窥镜,包括:胶囊外壳和位于所述胶囊外壳内的磁体,所述胶囊外壳的前端设有光学前盖,所述胶囊外壳内设有朝向所述光学前盖的采集图像信息的镜头以及和所述镜头连接的图像传感器,所述胶囊外壳内还设有图像处理器和信号传输模块,所述图像处理器和所述图像传感器、信号传输模块分别连接,所述胶囊外壳内还设有磁场传感器和运动传感器,所述磁场传感器以及所述运动传感器均和所述信号传输模块连接,所述胶囊外壳内还设有与所述图像传感器、图像处理器、信号传输模块、磁场传感器以及运动传感器连接的电池模块。 [0007] - seed capsule endoscope comprising: a capsule casing and a magnet located within the housing of the capsule, the capsule shell with the front end of the front optical cover, equipped with a capsule housing front towards the optical cover the image sensor and the lens information acquired image and the lens attached, the housing of the capsule is also provided an image processor and a signal transmission module, the image processor and the image sensor, a signal transmission module is connected, the the capsule housing also has a magnetic field sensor and a motion sensor, and the magnetic field sensor and the motion sensor are connected to the signal transmission module, the capsule of the image sensor, an image processor, the signal transmission is also provided within the housing and module, a magnetic field sensor, and a motion sensor connected to the battery module.

[0008]优选地,所述运动传感器包括: [0008] Preferably, the motion sensor comprises:

[0009]重力传感器和加速度传感器。 [0009] a gravity sensor and an acceleration sensor.

[0010]优选地,所述信号传输模块为射频模块。 [0010] Preferably, the signal transmission module is the RF module.

[0011 ] 一种胶囊内窥镜的位姿控制系统,包括: [0011] A capsule endoscope position and orientation control system, comprising:

[0012]如上述任一项所述的胶囊内窥镜; [0012] The capsule endoscope according to any of the above;

[0013]机器人手臂,所述机器人手臂包括为所述胶囊内窥镜内的磁体提供动态磁场的第一磁块,以及控制所述第一磁块运动的机械臂,其中,所述机械臂上设有η个运动关节,所述机械臂上还设有控制所述运动关节运动的控制器和驱动器,所述机械臂上还设有读取所述运动关节的旋转变量的编码器,η为大于I的整数。 [0013] the robot arm, the robot arm comprises providing a dynamic magnetic field of the magnet in the capsule endoscope of the first magnet, and the manipulator control movement of the first magnet, wherein said robot arm [eta] is provided with a joint movement, the further movement of the articulation control is provided with a controller and drive on the robot arm, the rotary encoder with the further reading of the variables on the robot arm motion of a joint, [eta] is I is an integer greater than.

[0014] 一种胶囊内窥镜的位姿控制方法,用于上述胶囊内窥镜控制系统,包括: [0014] A method of controlling the position and orientation of the capsule endoscope, the capsule endoscope control system is used, comprising:

[0015]设定胶囊内窥镜的目标位姿; [0015] setting a target posture of the capsule endoscope;

[0016]通过所述目标位姿和所述胶囊内窥镜的当前位姿,计算所述机器人手臂的目标运动位置; [0016] By the current pose of the target and the position and orientation of the capsule endoscope, calculates a target movement position of the robot arm;

[0017]控制所述机器人手臂运动到所述目标运动位置; [0017] The movement of the robot arm to control the movement target position;

[0018]获取所述胶囊内窥镜的位姿。 [0018] acquiring the position and orientation of the capsule endoscope.

[0019] 优选地,所述控制所述机器人手臂运动到所述目标运动位置包括: [0019] Preferably, the movement of the robot arm to control the movement target position comprises:

[0020]控制所述机器人手臂的各运动关节运动到预设位置; [0020] Control of the motion of each joint of the robot arm is moved to a preset position;

[0021 ]调节所述机器人手臂上的第一磁块至预设位置。 [0021] adjusting the first magnet on the robot arm to a predetermined position.

[0022]优选地,所述获取所述胶囊内窥镜的位姿包括: [0022] Preferably, the obtaining the position and orientation of the capsule endoscope comprising:

[0023]根据所述机器人手臂上的各编码器的数值获得所述第一磁块的第一位姿; [0023] obtaining a posture of the first magnet according to the first value of each encoder on the robot arm;

[0024]根据所述第一磁块的第一位姿获取空间磁感线向量场分布信息; [0024] Distribution of information of the first one of the first magnetic block attitude acquisition space vector field according to magnetic field lines;

[0025]获取所述胶囊内窥镜的磁场传感器反馈的磁场向量信息和所述运动传感器反馈的数值信息; [0025] acquires the magnetic field vector sensor feedback information field of the endoscope and the motion information value of the feedback sensor capsule;

[0026]将所述磁场传感器反馈的磁场向量信息和所述运动传感器反馈的数值信息与所述空间磁感线向量场分布信息进行对比,得到所述胶囊内窥镜在空间磁感线向量场中的位置和在空间中的姿态。 [0026] The value of magnetic field information of the magnetic field vector sensor feedback information and said motion sensor and said feedback space vector magnetic field lines distribution information field are compared to obtain a capsule endoscope in a space vector field magnetic induction line the position and posture in space.

[0027]优选地,在获取所述胶囊内窥镜的位姿之后,还包括: [0027] Preferably, after acquiring the position and orientation of the capsule endoscope, further comprising:

[0028]判断所述胶囊内窥镜的位姿是否达到了所述目标位姿; [0028] determining the position and orientation of the capsule endoscope has reached the target position and orientation;

[0029]若所述胶囊内窥镜未达到目标位姿,则通过所述目标位姿和所述胶囊内窥镜的当前位姿,计算所述机器人手臂的目标运动位置; [0029] When the capsule endoscope has not reached the target position and orientation, through the target pose and the current pose of the capsule endoscope, calculates a target movement position of the robot arm;

[0030]若所述胶囊内窥镜达到目标位姿,则判断是否所有目标检查完毕; [0030] When the capsule endoscope reaches the target position and orientation, it is judged whether all targets been checked;

[0031]若否,则设定胶囊内窥镜的目标位姿。 [0031] If not, it sets the target position and orientation of the capsule endoscope.

[0032]与现有技术相比,上述技术方案具有以下优点: [0032] Compared with the prior art, the above technical solution has the following advantages:

[0033]本发明实施例所提供的胶囊内窥镜,包括:胶囊外壳和位于胶囊外壳内的磁体,胶囊外壳的前端设有光学前盖,胶囊外壳内设有朝向光学前盖的采集图像信息的镜头以及和镜头连接的图像传感器,胶囊外壳内还设有图像处理器和信号传输模块,图像处理器和图像传感器、信号传输模块分别连接,胶囊外壳内还设有磁场传感器和运动传感器,磁场传感器以及运动传感器均和信号传输模块连接,胶囊外壳内还设有与图像传感器、图像处理器、信号传输模块、磁场传感器以及运动传感器连接的电池模块。 [0033] The embodiments provided in the capsule endoscope of the present embodiment of the invention, comprising: a capsule casing and the magnet of the capsule, the capsule shell within the housing with the front end of the front optical cover, equipped with a capsule housing toward the acquisition of the image information of the front optical cover lens and the image sensor and lens attached, the capsule housing further has an image processor and a signal transmission module, an image processor and an image sensor, a signal transmission module is connected, the capsule housing also has a magnetic field sensor and a motion sensor, a magnetic field motion sensors and signal transmission module and the sensors are connected, it is also provided within the capsule housing connected to the battery module and the image sensor, an image processor, a signal transmission module, a magnetic field sensor and a motion sensor. 胶囊内窥镜的镜头透过光学前盖进行取景,获取用户身体内的检查信息,镜头获得的图像信息经过图像传感器发送至图像处理器,经过处理后经由信号传输模块发送至外界。 The capsule endoscope through the front lens cover for the optical finder, examination information acquired in the body of the user, the image information of the lens obtained through the image processor to the image sensor, the signal transmitted to the outside via the transmission module after treatment. 其中,通过在外界对位于胶囊外壳内的磁体施加力来控制胶囊内窥镜的运动,通过胶囊内窥镜中的磁场传感器和运动传感器的共同作用来精确地反馈胶囊内窥镜的位姿。 Wherein, by applying a magnet outside the housing to control the force of the capsule endoscope of the capsule motion, the feedback to accurately position and orientation of the capsule endoscope in the capsule endoscope by the interaction of the magnetic field sensor and a motion sensor.

附图说明 BRIEF DESCRIPTION

[0034]为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。 [0034] In order to more clearly illustrate the technical solutions in the embodiments or the prior art embodiment of the present invention, briefly introduced hereinafter, embodiments are described below in the accompanying drawings or described in the prior art needed to be used in describing the embodiments figures some embodiments of the present invention, those of ordinary skill in the art is concerned, without creative efforts, can derive from these drawings other drawings.

[0035]图1为本发明一种具体实施方式所提供的第一胶囊内窥镜和第二胶囊内窥镜在同一磁场下不同位置的磁场向量示意图; [0035] FIG. 1 one first and second capsule endoscope capsule endoscope DETAILED DESCRIPTION provided a schematic diagram of the magnetic field vectors at different locations in the same field of the present invention;

[0036]图2为本发明一种具体实施方式所提供的第三胶囊内窥镜在一磁场下预设位置的磁场向量示意图; [0036] FIG. 2 is a schematic view of a third capsule endoscope INVENTION A specific embodiment is provided at a predetermined position of a magnetic field vector;

[0037]图3为本发明一种具体实施方式所提供的第四胶囊内窥镜在图3所示的磁场下与第三胶囊内窥镜相同位置不同姿态下的磁场向量示意图; [0037] FIG. 3 one kind of a fourth embodiment of the capsule endoscope DETAILED schematic provided at different posture vector field in the magnetic field shown in FIG. 3 with the same position of the capsule endoscope of the third present invention;

[0038]图4为图1所示的两个胶囊内窥镜在引入运动传感器时的磁场向量示意图; [0038] FIG. 4 is a two capsule endoscope shown in FIG. 1 when introduced into a magnetic field vector a schematic view of the motion sensor;

[0039]图5为图4所示的第一胶囊内窥镜的磁场向量在二维坐标轴中的方向示意图; [0039] FIG. 5 is a magnetic field vector of the first capsule endoscope shown in FIG. 4 is a schematic two-dimensional directions of coordinate axes;

[0040]图6为图4所示的第二胶囊内窥镜的磁场向量在二维坐标轴中的方向示意图; The magnetic field vector [0040] FIG. 6 is shown in FIG. 4 is a schematic view of a second capsule endoscope in the direction of the two-dimensional coordinate axes;

[0041]图7为图2所示的第三胶囊内窥镜在引入运动传感器时的磁场向量示意图; [0041] FIG. 7 is a schematic diagram of a third magnetic field vector of the capsule endoscope shown in FIG. 2 when introducing the motion sensor;

[0042]图8为图3所示的第四胶囊内窥镜在引入运动传感器时的磁场向量示意图; [0042] FIG. 8 is a schematic view of a fourth magnetic field vector of the capsule endoscope shown in FIG 3 when introducing a motion sensor;

[0043]图9为本发明一种实施方式所提供的一种胶囊内窥镜的位姿控制方法流程图。 [0043] Figure 9 flowchart of a control method of one kind pose A capsule endoscope according to an embodiment of the embodiment of the present invention.

具体实施方式 detailed description

[0044]本发明的核心是提供一种胶囊内窥镜的位姿控制系统、控制方法及胶囊内窥镜,能够实现对胶囊内窥镜的精确定位以及得到其位姿。 [0044] The core of the invention is to provide a position and orientation of the capsule endoscope control system, and control method of the capsule endoscope, to achieve precise positioning of the capsule endoscope, and the obtained position and orientation thereof.

[0045]为了使本发明的上述目的、特征和优点能够更为明显易懂,下面结合附图对本发明的具体实施方式做详细的说明。 [0045] In order to make the above-described objects, features and advantages of the present invention can be more fully understood in conjunction with the following drawings of specific embodiments of the present invention are described in detail.

[0046]在以下描述中阐述了具体细节以便于充分理解本发明。 [0046] specific details are set forth in the following description in order to provide a thorough understanding of the present invention. 但是本发明能够以多种不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似推广。 However, the present invention can be in various other ways than in the embodiments described herein to one skilled in the art can make similar extensions without departing from the intension of the present invention. 因此本发明不受下面公开的具体实施方式的限制。 Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047]本发明的一种具体实施方式提供了 一种胶囊内窥镜,包括:胶囊外壳和位于胶囊外壳内的磁体,胶囊外壳的前端设有光学前盖,胶囊外壳内设有朝向光学前盖的采集图像信息的镜头以及和镜头连接的图像传感器,胶囊外壳内还设有图像处理器和信号传输模块,图像处理器和图像传感器、信号传输模块分别连接,胶囊外壳内还设有磁场传感器和运动传感器,即胶囊外壳内设有定位模块,而定位模块包括磁场传感器和运动传感器,磁场传感器以及运动传感器均和信号传输模块连接,胶囊外壳内还设有与图像传感器、图像处理器、信号传输模块、磁场传感器以及运动传感器连接的电池模块,电池模块用于为各用电部件供电。 [0047] A specific embodiment of the present invention there is provided a capsule endoscope comprising: a capsule casing and the front end of the magnet of the capsule, the capsule shell within the housing is provided with a front optical cover, equipped with capsule toward the optical housing front the image sensor lens information acquired image and lens cover and connected, the capsule housing further includes an image processor and a signal transmission module, an image processor and an image sensor, a signal transmission module is connected, the capsule housing further provided a magnetic field sensor and a motion sensor, i.e. the capsule housing equipped with a positioning module, comprising a module positioned a magnetic field sensor and a motion sensor, a magnetic field sensor and a motion sensor are connected and a signal transmission module, further provided with an image sensor, an image processor, a signal within the capsule housing a transmission module, a magnetic field sensor, and a motion sensor connected to the battery module, the battery module is used for the power supply member.

[0048]在本实施方式中,在使用时,用户吞服该胶囊内窥镜,使得胶囊内窥镜进入到用户的消化道。 [0048] In the present embodiment, in use, a user of the capsule endoscope is swallowed, the capsule endoscope so that the user enters the digestive tract. 由于胶囊内窥镜的镜头朝向光学前盖,则其透过光学前盖可以进行取景,以获取用户消化道内的图像信息,镜头获得的图像信息经由图像传感器发送至图像处理器,图像处理器将该图像信息进行预设的处理后经由信号传输模块发送至外界。 Since the capsule endoscope toward the optical lens front cover, it can be through the front lid optical finder, to acquire image information in a user digestive tract, the obtained lens image information to the image processor via an image sensor, the image processor after this pre-processed image information is transmitted to the outside via the signal transmission module.

[0049]其中,通过在用户体外对位于胶囊外壳内的磁体施加力来控制胶囊内窥镜的运动,如通过其他的磁体在用户身体外施加牵引力来控制胶囊内窥镜进行运动,通过胶囊内窥镜中的磁场传感器和运动传感器的共同作用来精确地反馈胶囊内窥镜的位姿。 [0049] wherein, by applying a magnet in vitro user within a housing to control the force of the capsule endoscope of the capsule motion, such as the traction applied by the user's body other outer magnets to control the movement of the capsule endoscope, the capsule by interaction endoscope in magnetic field sensor and a motion sensor feedback to accurately position and orientation of the capsule endoscope.

[0050]请参考图1至图8,图1为本发明一种具体实施方式所提供的第一胶囊内窥镜和第二胶囊内窥镜在同一磁场下不同位置的磁场向量示意图;图2为本发明一种具体实施方式所提供的第三胶囊内窥镜在一磁场下预设位置的磁场向量示意图;图3为本发明一种具体实施方式所提供的第四胶囊内窥镜在图2所示的磁场下与第三胶囊内窥镜相同位置不同姿态下的磁场向量示意图;图4为图1所示的两个胶囊内窥镜在引入运动传感器时的磁场向量示意图;图5为图4所示的第一胶囊内窥镜的磁场向量在二维坐标轴中的方向示意图;图6为图4所示的第二胶囊内窥镜的磁场向量在二维坐标轴中的方向示意图;图7为图2所示的第三胶囊内窥镜在引入运动传感器时的磁场向量示意图;图8为图3所示的第四胶囊内窥镜在引入运动传感器时的磁场向量示意图。 [0050] Please refer to FIG. 1 to FIG. 8, a first and a second capsule endoscope of the capsule endoscope 1 of the present invention provides a specific embodiment of the magnetic field vector a schematic view of different positions in the same field; FIG. 2 the third capsule endoscope of the present invention provides a specific embodiment of the preset position of the magnetic field vector in a magnetic field schematic; Fig. 3 is an embodiment of the fourth one specific embodiment the capsule endoscope provided in FIG. the third magnetic field at the same position of the capsule endoscope 2 shown a schematic view of a magnetic field vector in different postures; FIG. 4 schematic diagram of the magnetic field vector when introduced into two of the motion sensor in the capsule endoscope shown in FIG. 1; FIG. 5 is a FIG magnetic field vector of the first capsule endoscope shown in FIG. 4 in the direction of the two-dimensional coordinate axes; and FIG. 6 is a schematic of the second magnetic field vector of the capsule endoscope shown in FIG. 4 in the direction of the two-dimensional coordinate axes ; third capsule endoscope shown in FIG. 2 FIG. 7 is a magnetic field vector when introduced into a motion sensor; and FIG. 8 is a schematic view of a fourth capsule endoscope shown in FIG. 3 when introduced into a magnetic field vector of the motion sensor.

[0051]在上述实施方式的基础上,本发明的一种实施方式中优选运动传感器包括重力传感器,进一步地运动传感器还包括加速度传感器。 [0051] In the embodiment based on the above embodiment, an embodiment of the present invention, preferably the motion sensor comprises a gravity sensor, a motion sensor further comprises a further acceleration sensor.

[0052]发明人研究发现单一使用磁场传感器在很多情况下无法准确地完成定位工作,如以下几种情况。 [0052] The inventors have found that the use of a single magnetic field sensor positioning work can not be completed accurately in many situations, such as the following situations.

[0053] (I)、如图1所示,以两个胶囊内窥镜在磁场中的位姿为例进行说明。 [0053] (I), shown in Figure 1, the capsule endoscope to two pose in the magnetic field as an example. 图1中虚线表示磁感线,弧形实线表示磁场等势线,V表示磁体的位姿向量,vn表示编号为η的胶囊内窥镜所测得的磁场向量(相对于胶囊内窥镜自身坐标系),vg表示各胶囊内窥镜的重力传感器测量的重力向量。 1 by dashed lines in FIG magnetic field lines, the curved solid line indicates the magnetic field equipotential lines, V represents the vector of the magnet pose, that number is η VN capsule endoscope measured magnetic field vector (with respect to the capsule endoscope own coordinate system), vg indicates a gravity sensor for measuring gravity vector of each capsule endoscope. 假设胶囊内窥镜所处的空间的空间磁感线向量场分布信息以及各胶囊内窥镜的姿态已知,由图1易知,第一胶囊内窥镜21和第二胶囊内窥镜22位于同一等势线上且姿态都是垂直于对应的磁感线,因此,两个胶囊内窥镜中的磁场传感器测得的磁场大小和方向都是相同的,即vl=v2,然而,由图可知这两个胶囊内窥镜明显处于不同的位置和姿态。 The spatial distribution information of the capsule endoscope is assumed that the space in which the magnetic field lines of each vector field and posture of the capsule endoscope is known, easy to know from FIG. 1, a first and a second capsule endoscope 21 of the capsule endoscope 22 equipotential line in the same posture and are perpendicular to the corresponding magnetic field lines, and therefore, the magnetic field magnitude and direction of the magnetic field sensor in the capsule endoscope two measured are the same, i.e., vl = v2, however, by the this figure shows the capsule endoscope clearly in two different positions and posture.

[0054] (2)、如图2和图3所示,假设图2和图3中的空间磁感线向量场分布相同。 As shown in [0054] (2), as shown in FIGS. 2 and 3, the same magnetic field lines in the spatial distribution of the vector field. 2 and FIG. 3 is assumed. 且图2中的第三胶囊内窥镜31和图3中的第四胶囊内窥镜41在磁场中位于同一个点,但是两个胶囊内窥镜的姿态不同,假设两个胶囊内窥镜的姿态已知。 And the third capsule endoscope 31 in FIG. 2 and FIG. 3 of the capsule endoscope 41 is located at a fourth point in the same magnetic field, but two different posture of the capsule endoscope, the capsule endoscope is assumed that two attitude known. 其中,两个胶囊测得的磁场强度相同但是方向不一致,即v3#v4,实际上,在没有其他参数的情况下,外界是不可能得知胶囊内窥镜的姿态的。 Wherein two capsules measured magnetic field strength the same direction, but inconsistent, i.e. v3 # v4, in fact, no other parameters in the case that the attitude is not possible outside the capsule endoscope.

[0055]针对上述两种情况,在引入运动传感器后,尤其是在胶囊内窥镜中设有重力传感器。 [0055] For both cases, after the introduction of the motion sensor, in particular a gravity sensor provided in the capsule endoscope. 如图4所示,假设空间磁感线向量场分布和胶囊内窥镜的姿态已知,第一胶囊内窥镜21和第二胶囊内窥镜22位于同一等势线上,姿态都是垂直于对应的磁场方向,所以vl=v2,但是两者相对于地球的姿态向量Vg是不相等的,将Vg当作空间中的纵轴,可以得到磁场向量在空间中的表示,如图5和图6所示,将得到的胶囊内窥镜的磁场向量与向量V确定的磁场模型进行对比,可以得到局部空间中唯一的一点,这一点即表示该胶囊内窥镜当前的位置,其中向量V可以通过测量获得。 4, assuming that the space vector magnetic field lines and field distribution known posture of the capsule endoscope, the capsule endoscope 21 of the first and second capsule endoscope 22 on the same equipotential line, vertical posture are corresponding to the magnetic field direction, vl = v2, but with respect to both the posture vector Vg of the earth is not equal, as will Vg longitudinal space, the magnetic field vector can be represented in space, as shown in FIG. 5 and As shown in FIG. 6, the magnetic field pattern resulting capsule endoscope vector field determined by comparing the vector V can be obtained only a little local space, which means that the current position of the capsule endoscope, wherein the vector V It can be obtained by measurement.

[0056]同样的,同一位置不同姿态的情况也可以得到解决,如图7和图8所示,以Vg向量重合于纵轴,易知,第三胶囊内窥镜31和第四胶囊内窥经41的空间磁场向量是相等的,同时参考向量V确定的磁场模型,即可以得知两个胶囊内窥镜在空间中的位置是相同的。 [0056] Similarly, the case where the same position in different poses can be solved, as shown in FIGS. 7 and 8, to coincide with the longitudinal axis of the vector Vg, easy to know, a third and a fourth of the capsule endoscope capsule endoscope 31 by spatial magnetic field vector 41 are equal, while the reference model for the magnetic field vector V is determined, i.e., can know the position of the capsule endoscope in the two spaces is the same.

[0057]因此,胶囊内窥镜在同时设有磁场传感器和重力传感器后,能够实现对胶囊内窥镜的精确定位,而加速度传感器的设置能够进一步精确实现胶囊内窥镜的位姿反馈。 After [0057] Thus, while the capsule endoscope with magnetic field sensor and a gravity sensor, enables precise positioning of the capsule endoscope, and the acceleration sensor can be further accurately realized posture of the capsule endoscope feedback.

[0058]进一步地,优选信号传输模块为射频模块,能够有效将胶囊内窥镜获取的图像信息以及自身的位置以及姿态反馈至外界。 [0058] Further, the signal transmission module is preferably a radio frequency module, the capsule endoscope can be effectively acquired the image information and its own posture and position feedback to the outside.

[0059]相应地,本发明一种实施方式还提供了一种胶囊内窥镜的位姿控制系统,包括: [0059] Accordingly, one embodiment of the present invention further provides a control system for a position and orientation of the capsule endoscope, comprising:

[0060]如上述任一实施方式所提供的胶囊内窥镜; [0060] As the capsule endoscope provided in any of the embodiments;

[0061]机器人手臂,机器人手臂包括为胶囊内窥镜内的磁体提供动态磁场的第一磁块,以及控制第一磁块运动的机械臂,其中,机械臂上设有η个运动关节,机械臂上还设有控制运动关节运动的控制器和驱动器,机械臂上还设有读取运动关节的旋转变量的编码器,η为大于I的整数,其中,运动关节包括旋转关节和平移关节。 [0061] the robot arm, the robot arm comprising a magnet provided in the capsule endoscope of the first dynamic magnetic field of the magnet, the first magnet and controlling movement of the robot arm, wherein a robot arm η motion joints, mechanical is also provided with a control arm articulation motion controller and drive, also provided with the encoder reads the moving joints of the robotic arm rotational variables, [eta] is an integer greater than I, wherein the motion includes a rotation joint joints and translation joints.

[0062]在本实施方式中,采用机器人手臂来控制胶囊内窥镜的运动。 [0062] In the present embodiment, using the robot arm to control the movement of the capsule endoscope. 机器人手臂的机械臂包括若干的分臂,各分臂之间设有旋转或平移关节,各旋转或平移关节受控于对应的控制器和驱动器进行水平方向上或者竖直方向上旋转,从而使得第一磁块可以在整个空间内运动,且第一磁块可以由相关旋转或平移关节控制而进行旋转以变化相对于胶囊内窥镜的磁极。 A robot arm comprising a plurality of sub-manipulator arm, a rotation or translation between the arm of the joint, each joint is controlled by the rotation or translation of the corresponding controllers and drives to rotate in the horizontal direction or the vertical direction, so that the first magnet may be moved in the entire space, and the first magnetic pole piece may be rotated with respect to changes in the capsule endoscope rotation or translation of the relevant joint control. 而各控制器可以接收外界控制终端的控制信号,以智能完成对第一磁块的精确定位,进而实现对胶囊内窥镜的精确控制。 And each controller may receive external control signal terminal to complete the precise positioning of the first smart magnet block, and thus accurate control of the capsule endoscope. 根据各旋转或平移关节的编码器的读数可以获得第一磁块的位姿,从而确定第一磁块所确定的磁场,即上述实施方式中的向量乂所确认的磁场模型。 The readings can be obtained for each rotational or translational joint encoders pose of the first magnet, so as to determine a first block of the determined magnetic field, i.e. magnetic field pattern above embodiment qe vector identified.

[0063]请参考图9,图9为本发明一种实施方式所提供的一种胶囊内窥镜的位姿控制方法流程图。 [0063] Please refer to FIG 9, one embodiment of the present invention. FIG. 9 pose control method of a capsule endoscope provided by way of a flowchart.

[0064]相应地,本发明一种实施方式还提供了一种胶囊内窥镜的位姿控制方法,用于上述的胶囊内窥镜控制系统,包括: [0064] Accordingly, one embodiment of the present invention further provides a method of controlling a posture of the capsule endoscope, the capsule endoscope used for the above-described control system, comprising:

[0065] Sll:设定胶囊内窥镜的目标位姿。 [0065] Sll: setting a target posture of the capsule endoscope. 可以根据需要,通过外界的控制终端设定胶囊内窥镜的目标位姿,以实现对用户消化道内的多个位置进行图像信息采集。 You may need to set a target position and orientation of the capsule endoscope by controlling the external terminal, in order to achieve a plurality of user locations within the digestive tract of the image information collection.

[0066] S12:通过目标位姿和胶囊内窥镜的当前位姿,计算机器人手臂的目标运动位置。 [0066] S12: current pose by the pose and the target capsule endoscope, calculates a target movement position of the robot arm.

[0067]获取胶囊内窥镜的当前位姿,通过比对胶囊内窥镜的当前位姿和目标位姿,计算出机器人手臂的目标运动位置。 [0067] Gets the current pose of the capsule endoscope, and the current pose by the pose certain ratio of the capsule endoscope, calculates a target movement position of the robot arm.

[0068] S13:控制机器人手臂运动到目标运动位置,以将机器人手臂上的第一磁块运动到目标位置。 [0068] S13: moving the robot arm to control the movement target position to the first magnet moving the robot arm to the target position.

[0069]其中,控制机器人手臂运动到目标运动位置包括:控制机器人手臂的各旋转或平移关节旋转到预设位置;调节机器人手臂上的第一磁块至预设位置,即对第一磁块进行旋转等操作,以调节第一磁块相对于胶囊内窥镜内的磁体的磁场环境。 [0069] wherein the robot arm is moved to control the movement target position comprises: controlling each rotational or translational joint robot arm to the predetermined rotational position; adjustment of the first magnetic block on the robot arm to a predetermined position, i.e., the first magnet rotating operations performed, to adjust a first magnet with respect to the ambient magnetic field of the magnet inside the capsule endoscope.

[0070] S14:获取胶囊内窥镜的位姿。 [0070] S14: acquiring position and orientation of the capsule endoscope.

[0071]其中,获取胶囊内窥镜的位姿包括根据机器人手臂上的各编码器的数值获得第一磁块的第一位姿; [0071] wherein, the capsule endoscope obtaining comprises obtaining the position and orientation of a posture of the first magnet by the value of the respective encoders on the robot arm;

[0072]根据第一磁块的第一位姿获取空间磁感线向量场分布信息; [0072] The first posture of the first distribution information obtaining magnet space vector field according to magnetic field lines;

[0073]获取胶囊内窥镜的磁场传感器反馈的磁场向量信息和运动传感器反馈的数值信息; [0073] NUMERICAL information field motion vector information and the capsule endoscope acquires sensor feedback magnetic field sensor feedback;

[0074]将磁场传感器反馈的磁场向量信息和运动传感器反馈的数值信息与空间磁感线向量场分布信息进行对比,得到胶囊内窥镜在空间磁感线向量场中的位置和在空间中的姿 [0074] The magnetic field sensor and a motion vector information of the magnetic field sensor feedback information and the feedback value of the space vector magnetic field lines distribution information field are compared to obtain the position of the capsule endoscope in a space vector magnetic field lines in the space field and the posture

ίέτ O ίέτ O

[0075]进一步地,在获取胶囊内窥镜的位姿之后,还包括: [0075] Further, after obtaining the position and orientation of the capsule endoscope, further comprising:

[0076]判断胶囊内窥镜的位姿是否达到了目标位姿; [0076] determining the position and orientation of the capsule endoscope has reached the target position and orientation;

[0077]若胶囊内窥镜未达到目标位姿,则通过目标位姿和胶囊内窥镜的当前位姿,计算机器人手臂的目标运动位置; [0077] When the capsule endoscope has not reached the target position and orientation, the current pose by the pose and the target capsule endoscope, calculates a target movement position of the robot arm;

[0078]若胶囊内窥镜达到目标位姿,则判断是否所有目标检查完毕; [0078] When the capsule endoscope reaches the target position and orientation, it is judged whether all targets been checked;

[0079]若否,则设定胶囊内窥镜的目标位姿。 [0079] If not, it sets the target position and orientation of the capsule endoscope.

[0080]若所有目标检查完毕,则结束检测。 [0080] If all target inspection is completed, the end of the test.

[0081]在本实施方式中,采用多传感器反馈的方法,可以实时对胶囊内窥镜的位姿做出下一步的运动规划,实现了对胶囊内窥镜的自动控制。 [0081] In the present embodiment, multi-sensor feedback method can be made in real time the next planning motion posture of the capsule endoscope, to achieve automatic control of the capsule endoscope. 尤其是采用磁场传感器和运动传感器的综合使用,磁场传感器能够检测胶囊内窥镜自身位置的磁场强度和方向等信息,而运动传感器的安装使得胶囊内窥镜可以对自身的位姿与运动状态进行反馈,这两者的综合使用才能够实现精确磁场定位,大大提高定位的准确性,使得运动控制更加精准。 In particular using the integrated use of a magnetic field sensor and a motion sensor, a magnetic field sensor capable of detecting the magnetic field intensity and direction information of the capsule endoscope own position or the like, the motion sensor is attached such that the capsule endoscope can pose their own motion state feedback, which integrated use of both to be able to achieve precise positioning of the magnetic field, greatly improving the accuracy of positioning, making the movement more precise control.

[0082]综上所述,通过在用户体外对位于胶囊外壳内的磁体施加力来控制胶囊内窥镜的运动,如通过其他的磁体在用户身体外施加牵引力来控制胶囊内窥镜进行运动,通过胶囊内窥镜中的磁场传感器和运动传感器的共同作用来精确地反馈胶囊内窥镜的位姿。 [0082] As described above, by applying the user vitro magnet positioned within the housing to control the force of the capsule endoscope of the capsule motion, as traction is applied to control the capsule endoscope is moved by another user outside the magnet body, feedback to accurately position and orientation of the capsule endoscope in the capsule endoscope by the interaction of the magnetic field sensor and a motion sensor.

[0083]机器人手臂的应用,可以提供一个动态的磁场,一是其自身运动可以为胶囊内窥镜的运动提供动力,二是由于机器人手臂的所有旋转或平移关节的旋转值可控,可以通过读取对应的编码器的值得到各旋转或平移关节的旋转变量,从而推算出机器人手臂末端的第一磁块的姿态,作为一个重要的参数参与胶囊内窥镜目标位姿的计算,三是机器人的旋转或平移关节采用高精度的电机、驱动器、编码器等元器件,可以提供一个相对人手更加精准的操作。 [0083] Application of the robot arm, may provide a dynamic magnetic field, one which itself may be powered motion to the motion of the capsule endoscope, and second because all values ​​of the rotation or rotational translation of the robot arm joint controllable, by reads the corresponding rotary encoder is worth to each variable rotational or translational joint, thereby calculate the posture of the robot arm a first end of the magnet, the important parameter is calculated as a target position and orientation of the capsule endoscope participation, the third is rotation or translation of the robot joints with high precision motor drive, encoders and other components, may provide a relatively more accurate manual operation.

[0084]本发明中的控制方法,基于胶囊位姿反馈,利用磁场定位和运动传感器进行位姿反馈,为外部的机器人手臂等动力设备的控制提供了数据依据。 [0084] The control method of the present invention, based on feedback capsules pose, and the magnetic field positioning motion sensor position and orientation feedback, provides a basis for controlling data of the robot arm or the like outside the power plant.

[0085]以上对本发明所提供一种胶囊内窥镜的位姿控制系统、控制方法及胶囊内窥镜进行了详细介绍。 [0085] A capsule endoscope provided above the position and orientation of the control system of the present invention, control method, and the capsule endoscope described in detail. 本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本发明及其核心思想。 Herein through specific examples and embodiments of the principles of the present invention are set forth in the above described embodiments are merely for understanding embodiments of the present invention and the core idea. 应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以对本发明进行若干改进和修饰,这些改进和修饰也落入本发明权利要求的保护范围内。 It should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the premise, may also be a number of modifications and improvements of the present invention, and these improvements and modifications also fall within the scope of the claims of the invention.

Claims (8)

  1. 1.一种胶囊内窥镜,其特征在于,包括:胶囊外壳和位于所述胶囊外壳内的磁体,所述胶囊外壳的前端设有光学前盖,所述胶囊外壳内设有朝向所述光学前盖的采集图像信息的镜头以及和所述镜头连接的图像传感器,所述胶囊外壳内还设有图像处理器和信号传输模块,所述图像处理器和所述图像传感器、信号传输模块分别连接,所述胶囊外壳内还设有磁场传感器和运动传感器,所述磁场传感器以及所述运动传感器均和所述信号传输模块连接,所述胶囊外壳内还设有与所述图像传感器、图像处理器、信号传输模块、磁场传感器以及运动传感器连接的电池模块。 1. A capsule endoscope comprising: a capsule casing and a magnet located within the housing of the capsule, the capsule shell with the front end of the front optical cover, the capsule toward the optical housing features acquire image information of the image sensor lens and the front cover and the lens attached, the housing of the capsule is also provided an image processor and a signal transmission module, the image processor and the image sensor, a signal transmission module is connected the capsule housing also has a magnetic field sensor and a motion sensor, and the magnetic field sensor and the motion sensor are connected to the signal transmission module, the housing of the capsule is also provided with the image sensor, the image processor , signal transmission module, a magnetic field sensor, and a motion sensor connected to the battery module.
  2. 2.根据权利要求1所述的胶囊内窥镜,其特征在于,所述运动传感器包括: 重力传感器和加速度传感器。 The capsule endoscope according to claim 1, wherein the motion sensor comprises: a gravity sensor and an acceleration sensor.
  3. 3.根据权利要求1或2所述的胶囊内窥镜,其特征在于,所述信号传输模块为射频模块。 The capsule endoscope of claim 1 or claim 2, wherein said radio frequency signal transmission module modules.
  4. 4.一种胶囊内窥镜的位姿控制系统,其特征在于,包括: 如权利要求1至3任一项所述的胶囊内窥镜; 机器人手臂,所述机器人手臂包括为所述胶囊内窥镜内的磁体提供动态磁场的第一磁块,以及控制所述第一磁块运动的机械臂,其中,所述机械臂上设有η个运动关节,所述机械臂上还设有控制所述运动关节运动的控制器和驱动器,所述机械臂上还设有读取所述运动关节的旋转变量的编码器,η为大于I的整数。 4. A capsule endoscope pose control system comprising: a capsule endoscope according to any one of claims 1 to claim 3; robot arm, the robot arm comprises the inner capsule is a magnet provided within the endoscope a first dynamic magnetic field magnet, and the manipulator control motion of the first magnet, wherein a joint motion η on the robot arm, the robot arm is also provided with a control the articulation of the motion controller and drive, also provided with the encoder reading the movement of the rotary joint variables of the robot arm, I is an integer greater than [eta].
  5. 5.—种胶囊内窥镜的位姿控制方法,用于如权利要求4所述的胶囊内窥镜控制系统,其特征在于,包括: 设定胶囊内窥镜的目标位姿; 通过所述目标位姿和所述胶囊内窥镜的当前位姿,计算所述机器人手臂的目标运动位置; 控制所述机器人手臂运动到所述目标运动位置; 获取所述胶囊内窥镜的位姿。 5.- species pose control method of the capsule endoscope, a capsule endoscope control system as claimed in claim 4, further comprising: setting a target posture of the capsule endoscope; by the current pose of the target position and posture of the capsule endoscope, calculates the target movement position of the robot arm; controlling movement of the robot arm to the target movement position; obtaining position and orientation of the capsule endoscope.
  6. 6.根据权利要求5所述的方法,其特征在于,所述控制所述机器人手臂运动到所述目标运动位置包括: 控制所述机器人手臂的各运动关节运动到预设位置; 调节所述机器人手臂上的第一磁块至预设位置。 6. The method according to claim 5, wherein said robot arm is moved to control the movement of the target position comprises: controlling the movements of the articulation of the robot arm to a predetermined position; adjustment of the robot a first magnet to a predetermined position on the arm.
  7. 7.根据权利要求6所述的方法,其特征在于,所述获取所述胶囊内窥镜的位姿包括: 根据所述机器人手臂上的各编码器的数值获得所述第一磁块的第一位姿; 根据所述第一磁块的第一位姿获取空间磁感线向量场分布信息; 获取所述胶囊内窥镜的磁场传感器反馈的磁场向量信息和所述运动传感器反馈的数值信息; 将所述磁场传感器反馈的磁场向量信息和所述运动传感器反馈的数值信息与所述空间磁感线向量场分布信息进行对比,得到所述胶囊内窥镜在空间磁感线向量场中的位置和在空间中的姿态。 7. The method according to claim 6, wherein the obtaining the position and orientation of the capsule endoscope comprising: obtaining a first magnet block according to the values ​​of the respective encoders on the first robot arm a posture; distribution information of an attitude of the first magnetic block acquisition space vector field according to magnetic field lines; the magnetic field vector information and the motion sensor of the capsule endoscope acquires the magnetic field sensor feedback information feedback value ; the value of magnetic field information of the magnetic field sensor feedback vector information and the motion sensor feedback of the spatial magnetic field lines and field vector distribution information are compared to obtain a capsule endoscope in a space vector magnetic field lines in the field position and posture in space.
  8. 8.根据权利要求5至7任一项所述的方法,其特征在于,在获取所述胶囊内窥镜的位姿之后,还包括: 判断所述胶囊内窥镜的位姿是否达到了所述目标位姿; 若所述胶囊内窥镜未达到目标位姿,则通过所述目标位姿和所述胶囊内窥镜的当前位姿,计算所述机器人手臂的目标运动位置; 若所述胶囊内窥镜达到目标位姿,则判断是否所有目标检查完毕; 若否,则设定胶囊内窥镜的目标位姿。 8. A method according to any one of claims 5-7, wherein, after acquiring the position and orientation of the capsule endoscope, further comprising: determining the position and orientation of the capsule endoscope has reached the said target position and orientation; if the capsule endoscope has not reached the target position and orientation, through the current pose of the target and the position and orientation of the capsule endoscope, calculates a target movement position of the robot arm; if the the capsule endoscope reaches the target position and orientation, it is judged whether all targets been checked; if not, setting a target posture of the capsule endoscope.
CN 201610259254 2016-04-22 2016-04-22 Pose control system and control method of capsule endoscope and capsule endoscope CN105962879A (en)

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