CN107260110A - A kind of capsule endoscope motion control method and system - Google Patents
A kind of capsule endoscope motion control method and system Download PDFInfo
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- 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
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- 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
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
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- 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
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- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract
This application discloses a kind of capsule endoscope motion control method, including receive the actual motion state of the capsule endoscope detected by the sensor built in capsule endoscope；The capsule endoscope is in the magnetic field produced by magnet coil；According to the actual motion state and the desired motion state of input, the control voltage of the magnet coil is calculated using Controlling model；The supply voltage of the magnet coil is adjusted according to the control voltage, to change the force-bearing situation of the capsule endoscope, until the capsule endoscope reaches the desired motion state.The application produces magnetic field using magnet coil, effectively magnetic field can be adjusted by adjusting the supply voltage of magnet coil, therefore the active control to capsule endoscope can be realized with reference to closed loop feedback control, it is applied to the high dynamic environment of human stomach and detect.Disclosed herein as well is a kind of capsule endoscope kinetic control system, equally with above-mentioned beneficial effect.
Description
Technical field
The application is related to medical instruments field, more particularly to a kind of capsule endoscope motion control method and system.
Background technology
Capsule endoscope is a kind of endoscope for making capsule shape and size, for checking the gastral healthy shape of human body
Condition.Capsule endoscope built-in camera device and signal transmitting apparatus, after it is swallowed by person under inspection, can along gastrointestinal motor,
Shooting inspection is carried out to alimentary canal inwall, and by the image transmitting of shooting to exterior terminal, in order to which doctor passes through capsule endoscope
The image of shooting, the gastral state of an illness to person under inspection makes diagnosis.
But, presently commercially available product can not realize the fortune in human body alimentary canal by doctor's active control capsule endoscope
Dynamic state, the capsule endoscope after being swallowed can only enter row stochastic random motion by the natural wriggling of human body alimentary canal.
Thus, one side doctor can not obtain the clear picture of specified location, thus can increase fail to pinpoint a disease in diagnosis, the risk of mistaken diagnosis；It is prior
On the other hand, such product can not be applied to the detection of human stomach's high dynamic environment because being unable to active control.Therefore, how
Motion state of the active control capsule endoscope in person under inspection's body, it is very to make its diagnosis that can apply to human stomach's state of an illness
Important.
For the problem, a solution is proposed in the prior art.The program passes through the feedback according to capsule endoscope
Information, constantly regulate is located at the magnetic field produced by the permanent magnet of human external and electromagnet, due to permanent magnetism built in capsule endoscope
Body, it therefore can be adjusted motion shape of the capsule endoscope in magnetic field by the electromagnetic force in magnetic field by adjusting magnetic field
State.However, because the magnetic field produced by permanent magnet is changeless in the program, and electromagnet is non-to the regulating power in magnetic field
It is often limited, therefore this method is also extremely limited to the control ability of capsule endoscope；And the program is only in single side
To --- force analysis and control have been carried out on vertical direction to capsule endoscope, therefore it is only applicable to erect in theoretical static environment
The upward motion state adjustment of Nogata, and it is not suitable for the actual high dynamic environment that human stomach is constantly wriggled and shunk.
The content of the invention
The purpose of the application is to provide a kind of capsule endoscope motion control method and system, so as to effectively active control
The motion state of capsule endoscope, so that it is applied to the work-up of human stomach.
In order to solve the above technical problems, the application provides a kind of capsule endoscope motion control method, including：
Receive the actual motion state of the capsule endoscope detected by the sensor built in capsule endoscope；The capsule
Scope is in the magnetic field produced by magnet coil；
According to the actual motion state and the desired motion state of input, the magnet coil is calculated using Controlling model
Control voltage；
The supply voltage of the magnet coil is adjusted according to the control voltage, to change the stress of the capsule endoscope
Situation, until the capsule endoscope reaches the desired motion state.
Wherein, the actual motion state of the capsule endoscope detected by the sensor received built in capsule endoscope
Including：
Receive the actual acceleration for the capsule endoscope that the three axis accelerometer built in the capsule endoscope is detected；
Receive the actual angular speed for the capsule endoscope that three axis angular rate meters built in the capsule endoscope are detected.
Wherein, it is described according to the actual motion state and the desired motion state of input, calculate institute using Controlling model
Stating the control voltage of magnet coil includes：
According to the actual acceleration and the desired locations of input, the control of gradient coil is calculated using position Controlling model
Voltage；
According to the actual angular speed and the expectation attitude angle of input, the control of shim coil is calculated using Attitude control model
Voltage processed.
Wherein, it is described according to the actual acceleration and the desired locations of input, calculate gradient using position Controlling model
The step of control voltage of coil, includes：
The actual acceleration is calculated to the physical location for obtaining the capsule endoscope current time through quadratic integral；
The balanced balanced current that Calculation and Analysis of Force obtains the gradient coil is carried out according to the physical location；
Site error is calculated according to the physical location and the desired locations；
The site error is substituted into the regulation electric current for obtaining the gradient coil is calculated in the position Controlling model；
The control electric current of the gradient coil is obtained according to the balanced balanced current and the regulation Current calculation；
According to the control electric current of the gradient coil and the resistance of the driving gradient coil, when calculating obtains current
Carve the control voltage of gradient coil.
Wherein, it is described according to the actual angular speed and the expectation attitude angle of input, calculate institute using Attitude control model
The step of control voltage for stating shim coil, includes：
The initial attitude angle for obtaining the capsule endoscope is calculated according to the actual acceleration；
The reality for obtaining the capsule endoscope current time is calculated according to the initial attitude angle and the actual angular speed
Attitude angle；
Calculated according to the actual attitude angle and the expectation attitude angle and obtain attitude error；
The attitude error is substituted into the control electric current for obtaining the shim coil is calculated in the Attitude control model；
According to the control electric current of the shim coil and the resistance of the driving shim coil, when calculating obtains current
Carve the control voltage of the shim coil.
Wherein, it is described calculated according to the initial attitude angle and the actual angular speed obtain the capsule endoscope it is current when
The actual attitude angle carved includes：
The quaternary number of the capsule endoscope initial time posture is determined according to the initial attitude angle；
According to the quaternary number and the actual angular speed of the initial time posture, it is current that calculating obtains the capsule endoscope
The quaternary number of moment posture；
The actual attitude angle for obtaining the capsule endoscope current time is calculated according to the quaternary number of the current time posture.
Wherein, it is described according to the actual motion state and the desired motion state of input, calculate institute using Controlling model
Stating the control voltage of magnet coil includes：
According to the actual motion state and the desired motion state of input, using integration separation in the Controlling model
And the pid control algorithm with dead band calculates the control voltage of the magnet coil.
Present invention also provides a kind of capsule endoscope kinetic control system, including：
Magnet coil：For producing magnetic field；
Capsule endoscope：For being moved in the presence of the magnetic field in person under inspection's alimentary canal；Built in the capsule endoscope
There is sensor；
The sensor：Actual motion state for detecting the capsule endoscope；
Drive circuit：For providing supply voltage to the magnet coil；
CPU：Actual motion state for receiving the capsule endoscope, according to the actual motion state and the phase of input
Motion state is hoped, the control voltage of the magnet coil is calculated using Controlling model；Driven according to control voltage regulation is described
The supply voltage that dynamic circuit provides for the magnet coil, to change the force-bearing situation of the capsule endoscope, until the glue
Intracapsular mirror reaches the desired motion state.
Wherein, the magnet coil includes：
Gradient coil：For producing uniform field high gradient magnetic field；
Shim coil：For producing homogeneous field strength magnetic field；
The magnetic field includes the uniform field high gradient magnetic field and the combination field of the homogeneous field strength magnetic field superposition.
Wherein, the sensor includes three axis accelerometer and three axis angular rate meters；
The CPU when receiving the actual motion state of the capsule endoscope specifically for：
Receive the actual acceleration for the capsule endoscope that the three axis accelerometer is detected；Receive the three shaft angles speed
The actual angular speed for the capsule endoscope that degree meter is detected.
In capsule endoscope motion control method provided herein, examined by receiving the sensor built in capsule endoscope
The actual motion state of the capsule endoscope measured；The capsule endoscope is in the magnetic field produced by magnet coil；According to
The actual motion state and the desired motion state of input, the control voltage of the magnet coil is calculated using Controlling model；
The supply voltage of the magnet coil is adjusted according to the control voltage, to change the force-bearing situation of the capsule endoscope, directly
The desired motion state is reached to the capsule endoscope.
It can be seen that, compared to prior art, magnet coil is utilized in capsule endoscope motion control method provided herein
Magnetic field is produced, effectively magnetic field can be adjusted by adjusting the supply voltage of magnet coil, so as to be prevented effectively from
The drawbacks of flux control ability is very limited in the control mode of magnet is powered up using permanent magnet in the prior art.Therefore, this Shen
Please can be after capsule endoscope be swallowed, the real time kinematics state detected by sensor sets up closed-loop control, according to motion
Result of calculation of the state error in Controlling model, the constantly supply voltage of adjustment magnet coil and then adjustment magnetic field, so as to change
Become stressing conditions of the capsule endoscope in magnetic field to change its motion state, until capsule endoscope reaches the desired motion shape specified
State.As can be seen here, capsule endoscope motion control method provided herein can effectively realize the active control to capsule endoscope
System, so that it goes for the high dynamic movement environment of human stomach.Capsule endoscope motion control provided herein
System can realize above-mentioned capsule endoscope motion control method, equally with above-mentioned beneficial effect.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, needed in being described below to the embodiment of the present application
The accompanying drawing to be used makees brief introduction.Certainly, about in only the application of the accompanying drawing description of the embodiment of the present application below
A part of embodiment, to those skilled in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to the accompanying drawing of offer, the other accompanying drawings obtained fall within the protection domain of the application.
A kind of flow chart for capsule endoscope motion control method that Fig. 1 is provided by the embodiment of the present application；
A kind of front view for magnet coil mounting structure that Fig. 2 is provided by the embodiment of the present application；
Fig. 3 is the flow chart using capsule endoscope motion control method during magnet coil mounting means shown in Fig. 2；
Fig. 4 is the desired locations according to actual acceleration and input, and the control of gradient coil is calculated using position Controlling model
The flow chart of voltage processed；
Fig. 5 is the expectation attitude angle according to actual angular speed and input, and shimming electromagnetic wire is calculated using Attitude control model
The flow chart of the control voltage of circle；
Fig. 6 is that the actual attitude angle for obtaining capsule endoscope current time is calculated according to initial attitude angle and actual angular speed
Flow chart；
The flow chart of pid control algorithms of the Fig. 7 for integration separation and with dead band；
Fig. 8 is a kind of structured flowchart of capsule endoscope kinetic control system provided herein.
Embodiment
In order to more clearly and completely be described to the technical scheme in the embodiment of the present application, below in conjunction with this Shen
Accompanying drawing that please be in embodiment, the technical scheme in the embodiment of the present application is introduced.Obviously, described embodiment is only
Some embodiments of the present application, rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of the application protection.
It refer to Fig. 1, a kind of flow chart for capsule endoscope motion control method that Fig. 1 is provided by the embodiment of the present application,
Mainly include the following steps that：
Step 101：Receive the actual motion state of the capsule endoscope detected by the sensor built in capsule endoscope；It is described
Capsule endoscope is in the magnetic field produced by magnet coil.
In method provided herein, by setting magnet coil to produce magnetic field in human external, to being built-in with forever
The capsule endoscope of magnet produces electromagnetic force, to adjust the motion state of capsule endoscope.Magnet coil can pass through regulation
Supply voltage adjusts its electric current, and then can effectively adjust magnetic field, therefore, using the flux control controlling party of magnet coil
Formula can realize effective control to capsule endoscope.
Magnet coil mentioned here, can arrange in pairs or groups and use gradient coil and shim coil.Gradient coil can be produced
Shimming high gradient magnetic field, shim coil can produce homogeneous field strength magnetic field, when both are used in conjunction with, and can form uniform field
Can more easily it realize in high gradient magnetic field and the combination field in homogeneous field strength magnetic field, the magnetic field compared to single form
Regulation to magnetic field.Certainly, magnet coil uses different numbers or different installation sites, and the magnetic field formed is different
, those skilled in the art can voluntarily be selected according to actual service condition, and the embodiment of the present application is not limited this, only
Magnetic field effectively can be adjusted by adjusting the electric current of magnet coil, and then capsule endoscope can be adjusted and shape is moved in magnetic field
State.
As it was previously stated, capsule endoscope, which is built-in with sensor, can detect motion state of the capsule endoscope in person under inspection's body.
The motion state physical quantity commonly used in the control process of position has acceleration, speed and position, because speed and position can be by
Acceleration calculation is obtained, and for capsule endoscope, its volume is the smaller the better, it is preferred that can be accelerated using three axles
Degree meter is detected to the acceleration of capsule endoscope, and obtains position according to acceleration calculation, so that in order in subsequent step
In its position is controlled.
On the other hand, when doctor control capsule endoscope motion when, in order to be able to more comprehensively and specified point is clearly viewed
Image, in addition to capsule endoscope is adjusted into the position specified to it, may also need to adjust the posture of capsule endoscope
It is whole, such as by capsule endoscope one end inclined upward certain angle etc., the i.e. fortune to capsule endoscope to the left with camera device
Dynamic control can also include the control to capsule endoscope athletic posture.Specifically, can be by the angle of pitch, roll angle, driftage
The control to capsule endoscope posture is realized in the control of these three attitude angles of angle.And because the attitude angle of object can not be directly by passing
Sensor is detected, therefore can measure angular speed by three axis angular rate meters (referring generally to inertial gyroscope), and then passes through posture solution
Calculation obtains attitude angle, so that the posture to capsule endoscope in subsequent step is controlled.
Step 102：According to actual motion state and the desired motion state of input, the electromagnetism is calculated using Controlling model
The control voltage of coil.
Closed loop feedback control is used in method provided herein, i.e., by the actual motion state that will detect and defeated
The desired motion state entered make the difference comparing, as long as there is error between the two, just according to error constantly regulate magnetic field, changes
The stressing conditions of capsule endoscope, until its motion state reaches desired motion state.As it was previously stated, the motion to capsule endoscope
The control of its position and gesture stability can be included, therefore, it can set up position Controlling model and Attitude control model respectively, according to
Position Controlling model can be calculated the control voltage of corresponding magnet coil by site error, can be by according to Attitude control model
Attitude error calculates the control voltage of corresponding magnet coil.
The magnet coil of different type and different installation sites, the influence to magnetic field is different, therefore using different numbers, class
Magnetic field produced by the magnet coil of type and installation site is probably different.For being produced according to certain specific set-up mode
Raw magnetic field, can be by obtaining to theoretical modeling, and the position which specific magnet coil can easily to capsule endoscope
Put and be controlled, and the posture which magnet coil can be easily to capsule endoscope is controlled, can be by this area skill
Art personnel make a concrete analysis of according to the mount scheme of magnet coil to be calculated and sets, and the application is not limited this.
, specifically can be using control work when being calculated and being controlled according to position Controlling model or Attitude control model
The pid control algorithm commonly used in journey, it would however also be possible to employ other control algolithms such as fuzzy control, ANN Control etc., the application
Specific control algolithm is not limited.
Step 103：The supply voltage of magnet coil is adjusted according to control voltage, to change the stress shape of capsule endoscope
Condition, until capsule endoscope reaches desired motion state.
It will be clear that realizing the regulation of electric current generally by regulation voltage in circuit.When according to control
Model is calculated after the control voltage for obtaining each magnet coil, just can be adjusted to the supply voltage of each magnet coil respectively
Control voltage, to change the electrical current of magnet coil, and then changes magnetic field.
It is fixed due to driving the resistance of magnet coil, therefore changes after the supply voltage of magnet coil, magnet coil
Electric current and its magnetic field of generation also there occurs respective change, the stressing conditions and motion shape of the capsule endoscope among magnetic field
Therefore state also changes.Specifically, the supply voltage of each magnet coil can be adjusted using PWM mode.
By being repeated continuously above step, i.e., constantly calculate motion state error and then obtain control voltage, can be with
The motion state of capsule endoscope is constantly adjusted, until it reaches the desired motion state of input.
It can be seen that, the capsule endoscope motion control method that the embodiment of the present application is provided is produced for changing using magnet coil
Become the magnetic field of capsule endoscope stressing conditions, thus effective adjustment to magnetic field can be realized by adjusting the voltage of magnet coil,
And then realization is to effective active control of capsule endoscope.The embodiment of the present application is specifically according to by the motion state of capsule endoscope
The result of calculation that error is substituted into after Controlling model, is adjusted accordingly to the voltage of magnet coil, so as to effectively real
Now to the active control of capsule endoscope motion state, the high dynamic movement environment for making it go for human stomach.
It refer to Fig. 2, a kind of front view for magnet coil mounting structure that Fig. 2 is provided by the embodiment of the present application.
As shown in Fig. 2 in a kind of magnet coil mounting structure that the embodiment of the present application is provided, employing four electromagnetic wires
Circle, and be evenly distributed on the circular support in perpendicular.Wherein, two magnet coils up and down in vertical straight line are
Gradient coil, the magnet coil of left and right two on horizontal linear is shim coil.When the magnet coil magnetic field shown in Fig. 2 exists
In use, person under inspection couches in the middle of the circular support shown in Fig. 2 along vertical paper direction, four magnet coils be located at respectively by
Four side up and down of inspection person.
Magnet coil is set using mounting means as shown in Figure 2, had the advantages that simple to operation.Wherein, two ladders
Degree coil can be used for adjusting magnetic field gradient, be easy to that the position of capsule endoscope is adjusted；And another two shim coil can be with
For adjusting magnetic field intensity, it is easy to be adjusted the posture of capsule endoscope.
Certainly, as it was previously stated, those skilled in the art can also use sets magnet coil otherwise, it is possible to according to
The method such as theory analysis and modeling obtains corresponding magnetic field model, and then obtains corresponding a set of Controlling model and algorithm.
Fig. 3 is refer to, Fig. 3 is the stream using capsule endoscope motion control method during magnet coil mounting means shown in Fig. 2
Cheng Tu, is mainly included the following steps that：
Step 301：Receive the actual acceleration for the capsule endoscope that the three axis accelerometer built in capsule endoscope is detected；Connect
Receive the actual angular speed for the capsule endoscope that three axis angular rate meters built in capsule endoscope are detected.
The embodiment of the present application is built-in in capsule endoscope while the mounting structure using the magnet coil shown in Fig. 2
Three axis accelerometer and three axis angular rate meters, are respectively used to detect the acceleration and angular speed of capsule endoscope.By in capsule
The signal transmitting apparatus of mirror, can receive the angle that the acceleration and three axis angular rate meters that three axis accelerometer detects are detected
Speed, in order to the control in subsequent step to capsule endoscope position and posture.
Step 302：According to actual acceleration and the desired locations of input, gradient coil is calculated using position Controlling model
Control voltage；According to actual angular speed and the expectation attitude angle of input, the control of shim coil is calculated using Attitude control model
Voltage.
Two magnet coils are gradient coil up and down in the embodiment of the present application, can produce uniform field high gradient magnetic field, are led to
The supply voltage of gradient coil is overregulated, gradient adjustment can be carried out to combination field, it is suitable to be produced to capsule endoscope
Driving force is to drive it to be moved to desired locations.According to the actual acceleration detected, you can with calculate physical location and then
Site error is obtained, when existence position error, just the supply voltage of gradient coil is adjusted, and specific gradient coil
The adjustment amount of supply voltage be according to position Controlling model calculate come.Related calculating process will be introduced in Fig. 4.
On the other hand, the magnet coil of left and right two is shim coil in the embodiment of the present application, can produce uniform magnetic field strong
Magnetic field is spent, by adjusting the supply voltage of shim coil, field strength adjustment can be carried out to combination field, to be produced to capsule endoscope
Raw suitable magnetic torque is so that it is adjusted to expect posture.According to the actual angular speed detected, it just can calculate and obtain reality
Attitude angle, and then attitude error is obtained, when there is attitude error, the supply voltage of shim coil being adjusted, being had
The adjustment amount of body shim coil supply voltage be according to Attitude control model calculating come.Related calculating process will in Figure 5
It is introduced.
Step 303：According to the supply voltage of the control voltage regulating gradient coil of gradient coil, according to the control of shim coil
The supply voltage of voltage-regulation shim coil processed, until capsule endoscope reaches desired motion state.
The related content of this step may be referred to step 103, just repeat no more here.
Fig. 4 is refer to, Fig. 4 is the desired locations according to actual acceleration and input, and ladder is calculated using position Controlling model
The flow chart of the control voltage of coil is spent, is comprised the following steps：
Step 401：Actual acceleration is calculated to the physical location for obtaining capsule endoscope current time through quadratic integral.
If the sampling period for controlling circuit is T, can be by acceleration according to the relation between speed and acceleration
A once integrates the speed v for obtaining this sampling period1, its expression formula is：v1=v0+ aT, wherein, v0For a upper sampling period
Speed；, can be to speed v further according to the relation between position and speed1Once integrated again and obtain this sampling period i.e.
The physical location s at current time1, its expression formula is：Wherein, s0For the position in a upper sampling period
Put.
Step 402：The balanced balanced current that Calculation and Analysis of Force obtains gradient coil is carried out according to physical location.
Because capsule endoscope is also affected by gravity, therefore, when capsule endoscope remains static, it is still desirable to
Magnet coil is passed through a certain size balanced balanced current, is balanced each other for producing certain electromagnetic force to capsule endoscope with gravity.
According to electromagnetic force principle, the electromagnetic force F (s) suffered by capsule endoscope and the magnetic at capsule endoscope present position
Field intensity Bc(s) and magnet coil balanced balanced current I11Between relation be：F (s)=I11·(M·▽)Bc(s), wherein, M
For the intensity of magnetization of capsule endoscope built-in permanent magnet, ▽ is Laplace operator.In addition, as it was previously stated, when magnet coil according to
, can be by carrying out theory analysis and modeling to magnetic field, so as to draw magnetic field intensity B after certain way is setcWith space bit
Put the variation relation between s, i.e. Bc(s), those skilled in the art can use different magnet coil set-up modes, and obtain
Corresponding Bc(s)。
The gravity G of electromagnetic force F (s) and capsule endoscope produced by balanced balanced current is made to balance each other, even I11·(M·▽)
Bc(s)=G, then it is possible thereby to calculate balanced balanced current I11。
Step 403：Site error is calculated according to physical location and desired locations.
Balanced balanced current of the capsule endoscope balance in current position of sening as an envoy to can be calculated according to step 402, still, if will
It is set to be moved to specified desired locations, it is necessary to extraly to magnet coil input regulation electric current I12To produce suitable driving
Power.Adjust electric current I12Calculating be to be carried out according to the feedback information of position closed loop, if current actual positions are deposited with theoretical position
, then can be by adjusting electric current I in error12Magnetic field is adjusted, to drive capsule endoscope to be moved to desired locations.If input
Desired locations be sr, then site error △ s can be calculated：△ s=sr-s1。
Step 404：Site error is substituted into the regulation electric current for obtaining gradient coil is calculated in the Controlling model of position.
Step 403 is calculated to obtained site error △ s to be updated in the Controlling model of position, gradient coil can be calculated
Regulation electric current I for driving capsule endoscope12.Specifically, the control algolithm that the embodiment of the present application is provided be integration separation and
Pid control algorithm with dead band.The detailed step of the part will be introduced in the figure 7.
Step 405：The control electric current of gradient coil is obtained according to balanced balanced current and regulation Current calculation.
The control electric current I of gradient coil1, that is, the total current inputted to gradient coil is actually needed, its should be equal to current
Balanced balanced current I at position11With regulation electric current I12Sum, i.e.,：I1=I11+I12。
Step 406：According to the control electric current of gradient coil and the resistance of driving gradient coil, when calculating obtains current
Carve the control voltage of gradient coil.
If the resistance for driving gradient coil is R1, then the control voltage U of current time gradient coil can be obtained1For：
U1=I1·R1。
Fig. 5 is refer to, Fig. 5 is the expectation attitude angle according to actual angular speed and input, is calculated using Attitude control model
The flow chart of the control voltage of shimming magnet coil.
Step 501：The initial attitude angle for obtaining capsule endoscope is calculated according to actual acceleration.
Component as of the acceleration a measured according to three axis accelerometer in reference axisx、ay、az, can calculate in capsule
The initial attitude angle Φ of mirror0(θ0,ψ0,γ0), wherein θ0For the angle of pitch, ψ0For yaw angle, γ0For roll angle.
Step 502：The actual posture for obtaining capsule endoscope current time is calculated according to initial attitude angle and actual angular speed
Angle.
The process that attitude angle is solved by the angular velocity information measured is exactly attitude algorithm in fact.In attitude algorithm, often
With quaternary number Q (q0,q1,q2,q3) weigh and describe the change of object space posture, there is simple, intuitive.Such as Fig. 6
Shown, the process for the attitude algorithm that the embodiment of the present application is provided comprises the following steps：
Step 5021：The quaternary number of capsule endoscope initial time posture is determined according to initial attitude angle.
Because every kind of posture all corresponds to one group of quaternary number, therefore by initial attitude angle Φ0(θ0,ψ0,γ0) glue can be calculated
The quaternary number Q of intracapsular mirror initial time posture0(q00,q10,q20,q30)。
Step 5022：According to the quaternary number and actual angular speed of initial time posture, calculating obtain capsule endoscope it is current when
Carve the quaternary number of posture.
Utilize the actual angular speed Ω (ω obtained measured by three axis angular rate metersx,ωy,ωz), in initial time posture
Quaternary number Q0(q00,q10,q20,q30) on the basis of it is updated, the quaternary number Q of current time posture can be calculated1
(q01,q11,q21,q31)。
Step 5023：The actual posture for obtaining capsule endoscope current time is calculated according to the quaternary number of current time posture
Angle.
The quaternary number Q of the capsule endoscope current time posture calculated according to step 50221(q01,q11,q21,q31), i.e.,
The attitude matrix at current time can be obtainedSo as to from attitude matrixMiddle extraction obtains capsule endoscope current time
Actual attitude angle Φ1(θ1,ψ1,γ1)。
Step 503：Calculate according to actual attitude angle and expectation attitude angle and obtain attitude error.
If the expectation attitude angle of input is Φr(θr,ψr,γr), then it can obtain current time corresponding attitude error
△ Φ are：△ Φ=Φr(θr,ψr,γr)-Φ1(θ1,ψ1,γ1)。
Step 504：Attitude error is substituted into the control electric current for obtaining shim coil is calculated in Attitude control model.
Obtained attitude error △ Φ will be calculated in step 503 to be updated in Attitude control model, then can be calculated
Control electric current I of the shim coil to adjust capsule endoscope posture2.Similarly, here can also be using integration separation and with dead
The pid control algorithm in area, the detailed step of the algorithm will be introduced in the figure 7.
Step 505：According to the control electric current of shim coil and the resistance of driving shim coil, when calculating obtains current
Carve the control voltage of shim coil.
If the resistance for driving shim coil is R2, then the control voltage U of current time shim coil can be obtained2For：
U2=I2·R2。
As it was previously stated, the embodiment of the present application employs integration separation and with dead band in position control and gesture stability
Pid control algorithm, both algorithm ideas are identical with process, and simply the design parameter in algorithm is different.Below, it will combine
Fig. 7, is separated to the integration employed in step 404 and step 504 and the pid control algorithm with dead band is introduced.It refer to
Fig. 7, Fig. 7 are the flow chart of the algorithm, are comprised the following steps：
Step 701：Calculate motion state error.
Motion state error described here, including the site error △ s calculated in position rate-determining steps 403,
The attitude error △ Φ calculated in gesture stability step 503 can be included.
Step 702：Judge whether motion state error is less than the first threshold value；If so, into step 703；If it is not, into
Step 704.
Here the first threshold value is set in advance, rule of thumb parameter combination artificial debugging can be selected.First
The setting of threshold value is in order to carry out dead zone function, and so-called dead band refers to when small to one as the motion state error of controlled volume
When determining degree, i.e., when less than the first threshold value of setting, controlled quentity controlled variable output is taken as 0 so that controlled quentity controlled variable is not produced in this section of interval
Raw effect.By setting dead band, can avoid control action excessively frequently caused by system shake.
Certainly, so it is easy to understand that control the first threshold value neutralized in gesture stability to be generally different values in position,
Can certainly be identical, those skilled in the art can be configured according to specific actual conditions.
Step 703：Controlled quentity controlled variable is taken as 0 and exported.
If judging that current motion state error is less than the first threshold value through step 702, controlled quentity controlled variable is output as 0.Certainly,
Controlled quentity controlled variable described here includes the regulation electric current I of the gradient coil in position rate-determining steps 40412, posture control can also be included
The control electric current I of shim coil in step 504 processed2。
The output of controlled quentity controlled variable will directly affect adjustment in subsequent step to corresponding solenoid current, and finally influence
To the motion state of capsule endoscope；In order to by lasting detection, calculate and adjustment, until capsule endoscope reaches desired motion shape
State.
Step 704：Judge whether motion state error is less than the second threshold value；If so, into step 705；If it is not, into
Step 706.
If judging that current motion state error is more than the first threshold value through step 702, now need to export a certain size
Controlled quentity controlled variable to adjust and control controlled volume.
In view of when motion state error is excessive, PID control can cause larger overshoot, therefore integration point is used herein
From control thought, i.e., when motion state error is excessive, cancel integral action, only carry out PD control.Specifically, current kinetic
Whether state error is excessive to be determined by judging whether it is less than second threshold value.Here the second threshold value is also pre-
First set, rule of thumb parameter combination artificial debugging result can equally be selected.
It is easily understood that the second threshold value should be greater than the first threshold value.Similarly, position control neutralizes posture
The second threshold value in control is generally different values, and the two can also be identical certainly, and those skilled in the art can be according to tool
Body actual conditions are configured.
Step 705：Controlled quentity controlled variable is calculated according to PID control and exported.
If judging that current motion state error is less than the second threshold value by step 704, illustrate motion shape now
The desired motion state that state is relatively inputted, by the integration control in PID, can further eliminate static error, improve
The control accuracy of system.Therefore, now controlled quentity controlled variable is calculated and exported using PID control, so as to right in subsequent step
The electric current of corresponding magnet coil is adjusted correspondingly, and continues to detect, calculate and adjust, until capsule endoscope reaches expectation fortune
Dynamic state.
If e represents error, u represents controlled quentity controlled variable, then PID calculation expression is：
Wherein, kpFor proportionality coefficient, kiFor integral coefficient, kdFor differential coefficient, u0For the crude initial values of controlled quentity controlled variable, k=0,1,
2 ..., represent kth time sampling.
Step 706：Controlled quentity controlled variable is calculated according to PD control and exported.
If judging that current motion state error is not less than the second threshold value by step 704, illustrate fortune now
Dynamic state compared to input desired motion state difference away from larger, therefore cancel integral action, to prevent it from bringing larger
System overshoot.
If e represents error, u represents controlled quentity controlled variable, then PD calculation expression is：U (k)=kp·e(k)+kd[e(k)-e(k-
1)]+u0；Wherein, kpFor proportionality coefficient, kdFor differential coefficient, u0For the crude initial values of controlled quentity controlled variable, k=0,1,2 ..., expression kth
Secondary sampling.
It is noted that after step 705 or step 706, can also be in correlation computations expression formula therein
KpIt is updated etc. parameter, so that control system can obtain preferably control effect in different size of motion state error
Really.
The capsule endoscope kinetic control system provided below the embodiment of the present application is introduced.Capsule described below
Scope kinetic control system can be mutually to should refer to above-described capsule endoscope motion control method.
Referring to Fig. 8, Fig. 8 is a kind of structured flowchart of capsule endoscope kinetic control system provided herein；Including
Magnet coil 801, capsule endoscope 802, sensor 803, drive circuit 804, CPU805.
Magnet coil 801 is used to produce magnetic field, electromagnetic force is produced to the capsule endoscope 802 in the magnetic field, so as to can
To adjust the motion state of capsule endoscope 802.
Preferably, magnet coil 801 can arrange in pairs or groups using gradient coil and shim coil, using produced by gradient coil
Homogeneous field strength magnetic field produced by uniform field high gradient magnetic field and shim coil, forms combination field, easily and effectively right
Capsule endoscope 802 carries out motion state control.Specifically, can be by adjusting the supply voltage of gradient coil, to the ladder in magnetic field
Degree is adjusted, and is moved with producing suitable drive force capsule endoscope 802 to desired locations；Adjustment can be passed through simultaneously
The supply voltage of shim coil, is adjusted to magnetic field intensity, to produce the appearance that suitable magnetic torque adjusts capsule endoscope 802
State.
Certainly, the number of magnet coil 801, installation site can use different schemes, and the application is not limited this
System, those skilled in the art can be configured according to actual conditions, it is possible to be obtained accordingly by means such as modeling and simulatings
Magnetic field model and specific each magnet coil 801 determine corresponding Controlling model to the influence mode in magnetic field, these
It will all fall within the application protection domain.
Capsule endoscope 802 is the moving target of capsule endoscope kinetic control system, for being examined under the influence of a magnetic field
Moved in the alimentary canal of person.
Sensor 803 is used for the actual motion state for detecting capsule endoscope 802, and it is built in capsule endoscope 802.In order to
Doctor is facilitated to obtain the picture of full apparent by capsule endoscope 802, sensor 803 can use three axis accelerometer and three axles
Turn meter, to obtain the actual acceleration and actual angular speed of capsule endoscope 802, in order to carry out position control and appearance to it
State is controlled.
Drive circuit 804 is used to provide suitable driving voltage to magnet coil 801 under CPU805 regulation and control.
CPU805 is used for the actual motion state for receiving the capsule endoscope 802 detected by sensor 803, and according to the reality
Border motion state and the desired motion state of input, the control voltage of magnet coil 801 is calculated using Controlling model；And will drive
Dynamic circuit 804 is that the supply voltage that magnet coil 801 is provided is adjusted to control voltage size, to change capsule endoscope 802
Stressing conditions and motion state, until capsule endoscope 802 reaches desired motion state.
Similarly, Controlling model described here can include position Controlling model and Attitude control model；And
CPU805 when carrying out motion state control using position Controlling model and Attitude control model, can using integration separation and
Pid control algorithm with dead band, can both have been prevented when motion state error is smaller because controlled quentity controlled variable is frequently acted on and generation system
Concussion, can also avoid the generation system overshoot because of integral action when motion state error is larger, so as to ensure preferably control
Effect processed.
It can be seen that, capsule endoscope kinetic control system provided herein produces magnetic field, therefore using magnet coil 801
Effectively magnetic field can be adjusted by adjusting the supply voltage of magnet coil 801, so as to realize to capsule endoscope 802
Active control.In the application, it is specifically the controlled quentity controlled variable that correlation is calculated according to closed loop feedback, motion is eliminated so as to reach
State error, makes capsule endoscope 802 reach the purpose for the desired motion state specified.
The embodiment of each in the application is described by the way of progressive, and what each embodiment was stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
Speech, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to the method and step of the embodiments described herein description, energy
It is enough to be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate the interchangeable of hardware and software
Property, the composition and step of each example are generally described according to function in the above description.These functions are actually with hard
Part or software mode are performed, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel can be with
Described function is realized using distinct methods to each specific application, but this realization is it is not considered that beyond this Shen
Scope please.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Capsule endoscope motion control method provided herein and system are described in detail above.Herein should
The principle and embodiment of the application are set forth with specific case, the explanation of above example is only intended to help and managed
Solve the present processes and its core concept.It should be pointed out that for those skilled in the art, not departing from
On the premise of the application principle, some improvement and modification can also be carried out to the application, these are improved and modification also falls into this Shen
Please be in scope of the claims.
Claims (10)
1. a kind of capsule endoscope motion control method, it is characterised in that including：
Receive the actual motion state of the capsule endoscope detected by the sensor built in capsule endoscope；The capsule endoscope
In the magnetic field produced by magnet coil；
According to the actual motion state and the desired motion state of input, the control of the magnet coil is calculated using Controlling model
Voltage processed；
The supply voltage of the magnet coil is adjusted according to the control voltage, to change the stress shape of the capsule endoscope
Condition, until the capsule endoscope reaches the desired motion state.
2. capsule endoscope motion control method according to claim 1, it is characterised in that built in the reception capsule endoscope
The actual motion state of the capsule endoscope detected by sensor includes：
Receive the actual acceleration for the capsule endoscope that the three axis accelerometer built in the capsule endoscope is detected；
Receive the actual angular speed for the capsule endoscope that three axis angular rate meters built in the capsule endoscope are detected.
3. capsule endoscope motion control method according to claim 2, it is characterised in that described according to the actual motion shape
State and the desired motion state of input, the control voltage for calculating the magnet coil using Controlling model include：
According to the actual acceleration and the desired locations of input, the control electricity of gradient coil is calculated using position Controlling model
Pressure；
According to the actual angular speed and the expectation attitude angle of input, the control electricity of shim coil is calculated using Attitude control model
Pressure.
4. capsule endoscope motion control method according to claim 3, it is characterised in that described according to the actual acceleration
With the desired locations of input, the control voltage for calculating gradient coil using position Controlling model includes：
The actual acceleration is calculated to the physical location for obtaining the capsule endoscope current time through quadratic integral；
The balanced balanced current that Calculation and Analysis of Force obtains the gradient coil is carried out according to the physical location；
Site error is calculated according to the physical location and the desired locations；
The site error is substituted into the regulation electric current for obtaining the gradient coil is calculated in the position Controlling model；
The control electric current of the gradient coil is obtained according to the balanced balanced current and the regulation Current calculation；
According to the control electric current of the gradient coil and the resistance of the driving gradient coil, calculating obtains current time institute
State the control voltage of gradient coil.
5. capsule endoscope motion control method according to claim 3, it is characterised in that described according to the actual angular speed
With the expectation attitude angle of input, the control voltage for calculating shim coil using Attitude control model includes：
The initial attitude angle for obtaining the capsule endoscope is calculated according to the actual acceleration；
The actual posture for obtaining the capsule endoscope current time is calculated according to the initial attitude angle and the actual angular speed
Angle；
Calculated according to the actual attitude angle and the expectation attitude angle and obtain attitude error；
The attitude error is substituted into the control electric current for obtaining the shim coil is calculated in the Attitude control model；
According to the control electric current of the shim coil and the resistance of the driving shim coil, calculating obtains current time institute
State the control voltage of shim coil.
6. capsule endoscope motion control method according to claim 5, it is characterised in that described according to the initial attitude angle
Obtaining the actual attitude angle at the capsule endoscope current time with actual angular speed calculating includes：
The quaternary number of the capsule endoscope initial time posture is determined according to the initial attitude angle；
According to the quaternary number and the actual angular speed of the initial time posture, calculating obtains the capsule endoscope current time
The quaternary number of posture；
The actual attitude angle for obtaining the capsule endoscope current time is calculated according to the quaternary number of the current time posture.
7. according to any one of claim 1 to the 6 capsule endoscope motion control method, it is characterised in that described in the basis
Actual motion state and the desired motion state of input, the control voltage for calculating the magnet coil using Controlling model include：
According to the actual motion state and the desired motion state of input, using integration separation and band in the Controlling model
The pid control algorithm in dead band calculates the control voltage of the magnet coil.
8. a kind of capsule endoscope kinetic control system, it is characterised in that including：
Magnet coil：For producing magnetic field；
Capsule endoscope：For being moved in the presence of the magnetic field in person under inspection's alimentary canal；The capsule endoscope is built-in with biography
Sensor；
The sensor：Actual motion state for detecting the capsule endoscope；
Drive circuit：For providing supply voltage to the magnet coil；
CPU：Actual motion state for receiving the capsule endoscope, is transported according to the expectation of the actual motion state and input
Dynamic state, the control voltage of the magnet coil is calculated using Controlling model；According to the control voltage regulation driving electricity
The supply voltage that road provides for the magnet coil, to change the force-bearing situation of the capsule endoscope, until in the capsule
Mirror reaches the desired motion state.
9. capsule endoscope kinetic control system according to claim 8, it is characterised in that the magnet coil includes：
Gradient coil：For producing uniform field high gradient magnetic field；
Shim coil：For producing homogeneous field strength magnetic field；
The magnetic field includes the uniform field high gradient magnetic field and the combination field of the homogeneous field strength magnetic field superposition.
10. capsule endoscope kinetic control system according to claim 9, it is characterised in that
The sensor includes three axis accelerometer and three axis angular rate meters；
The CPU when receiving the actual motion state of the capsule endoscope specifically for：
Receive the actual acceleration for the capsule endoscope that the three axis accelerometer is detected；Receive the three axis angular rates meter
The actual angular speed of the capsule endoscope detected.
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