CN107374574B - It is a kind of for determining the device of pose in capsule endoscope body - Google Patents
It is a kind of for determining the device of pose in capsule endoscope body Download PDFInfo
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- CN107374574B CN107374574B CN201710616458.3A CN201710616458A CN107374574B CN 107374574 B CN107374574 B CN 107374574B CN 201710616458 A CN201710616458 A CN 201710616458A CN 107374574 B CN107374574 B CN 107374574B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0223—Magnetic field sensors
Abstract
The invention discloses a kind of for determining the device and method of pose in capsule endoscope body.The present invention by knowing magnetic source direction in real time, correspondingly change the gating region of array of magnetic sensors, to reduce the number of the sensor worked at the same time, to reduce the calculation amount of nonlinear optimization algorithm, and magnetic source is made to be in the relatively good position in the detectable range of detection array, higher detection accuracy can be obtained.
Description
Technical field
The present invention relates to magnetic field detection technology fields, and in particular to a kind of for determining the dress of pose in capsule endoscope body
It sets.
Background technique
The capsule endoscope for being equipped with miniature webcam can be entered by the modes such as swallowing or being inserted by human body natural aperture
In human body alimentary canal, shoots the image of alimentary canal inner wall and be output in display equipment, auxiliary doctor examines alimentary canal inner wall
Lesion.The built-in magnetic source in capsule endoscope, and using external equipment magnetic density caused by the magnetic source detected, transported
Row location algorithm can get position and posture of the capsule endoscope in human body alimentary canal, help to improve capsule endoscope
Examine efficiency and performance.
The prior art (patent No. US005762064A) discloses a kind of scheme, using being fixed on certain in the space outside human body
The Magnetic Sensor (at least two magnetic sensors) of position, the medical supply with magnetic source that detection is placed in inside of human body are produced
Raw magnetic density, then handle by location algorithm the magnetic density of each sensor collected can be estimated to be located at people intracorporal
The position of medical supply with magnetic source and posture.
But this method is only applicable to the lesser situation of magnetic source motion range, it is only necessary to use small number of Magnetic Sensor
The array of composition small-scale can meet the practical application request of magnetic source position and orientation measurement.However, having built-in magnetic source
Capsule endoscope needs large range of movement is done in human gastrointestinal tract, and then can be related to more Magnetic Sensors formed it is larger
The array of magnetic sensors of scale is to cover the entire moving region of capsule endoscope.More Magnetic Sensors will measure simultaneously more
Multiple groups magnetic density measured value, this will cause more computation burdens to the data processing system of operation location algorithm, is unfavorable for mentioning
The real-time of high system.Moreover, in fairly large array of magnetic sensors, the magnetic that is measured apart from the farther away Magnetic Sensor of magnetic source
Signal is easy to be influenced (such as earth's magnetic field) by magnetic noises various in environment, is unfavorable for the integrated measurement accuracy of raising system.
Summary of the invention
In view of this, the present invention provides a kind of for determining the device of pose in capsule endoscope body, can not only mention
The real-time of high system, and it is not easily susceptible to magnetic noise influence.
A kind of method of pose in determining capsule endoscope body detects the endoscope as magnetic source using array of magnetic sensors
Capsule is located at intracorporal pose, this method comprises: it is characterized by:
Determine Magnetic Sensor closest with magnetic source position in magnetic sensor array, centered on sensor initial choosing
It selects；
According to central sensor, carries out the magnetic source pose determination process based on gating area: taking centered on central sensor
Square or border circular areas be gating area；The magnetic density obtained according to each Magnetic Sensor in gating area and corresponding magnetic
Sensor pose, obtains magnetic source pose, i.e. current endoscope capsule is located at internal pose；
The magnetic source pose of acquisition is projected to array of magnetic sensors, using the Magnetic Sensor nearest with projected position as new
Central sensor, carry out it is subsequent based on gating area magnetic source pose determination process.
Preferably, when determining the initial selected of central sensor, using pose calculating method or magnetic density modulus value comparison method,
Obtain Magnetic Sensor closest with magnetic source position in magnetic sensor array.
Preferably, obtaining the tool of sensor closest with magnetic source position in magnetic sensor array according to pose calculating method
Body method are as follows:
Step 1.1A, it enables each Magnetic Sensor in array of magnetic sensors start to work, it is right to obtain each Magnetic Sensor institute
The magnetic density value on three orthogonal directions answered；
Step 1.2A, the magnetic current on three orthogonal directions corresponding to each Magnetic Sensor obtained in step 1.1A is close
Angle value modulus rejects the magnetic density that modulus value is zero；
It step 1.3A, will be corresponding to each magnetic density modulus value that obtained in step 1.2A and each magnetic density modulus value
Magnetic sensor locations substitute into magnetic density distribution formula, obtain magnetic source pose；
Step 1.4A, the magnetic source pose of acquisition is projected to array of magnetic sensors, and will be nearest with the projected position
Sensor centered on Magnetic Sensor.
Preferably, obtaining biography closest with magnetic source position in magnetic sensor array according to magnetic density modulus value comparison method
Sensor method particularly includes:
Step 1.1B, it enables each Magnetic Sensor in array of magnetic sensors start to work, it is right to obtain each Magnetic Sensor institute
The magnetic density value on three orthogonal directions answered；
Step 1.2B, the magnetic current on three orthogonal directions corresponding to each Magnetic Sensor obtained in step 1.1B is close
Angle value modulus；
Step 1.3B, it from the magnetic density modulus value obtained in step 1.2B, chooses in the maximum sensor conduct of modulus value
Heart sensor.
Preferably, the magnetic density obtained according to each Magnetic Sensor in gating area, and corresponding Magnetic Sensor position
Appearance obtains magnetic source pose are as follows:
The magnetic density that each Magnetic Sensor is obtained, and corresponding magnetic sensor locations substitute into magnetic density distribution public affairs
Formula obtains magnetic source pose.
Preferably, updating the method for central sensor when the movement velocity of magnetic source remains unchanged within the set time are as follows:
The magnetic source position in next sampling period is estimated using differential technique according to nearest double sampling counted magnetic source position
It sets, and the magnetic source pose of acquisition is projected to array of magnetic sensors, and using the sensor nearest with the projected position as in
Heart sensor.
A kind of device detecting pose in capsule endoscope body, comprising:
Preliminary pose determining module is made for determining Magnetic Sensor closest with magnetic source position in magnetic sensor array
For the initial selected of center sensor, selected central sensor is notified to give gating area's determining module；
Area's determining module is gated, is side length or radius for centered on central sensor, taking length a, forms square
Or circular gating area；
Magnetic density obtains module, for acquiring the magnetic density and magnetic that each Magnetic Sensor obtains in the gating area
The corresponding magnetic sensor locations of current density are supplied to magnetic source pose and obtain module；
Magnetic source pose obtain module, for according to each Magnetic Sensor position and magnetic density, obtain magnetic source pose, send
Give central sensor update module；
Central sensor update module will be with the throwing for projecting the magnetic source position of acquisition to array of magnetic sensors
The nearest Magnetic Sensor in shadow position is updated to gating area's determining module as new central sensor, is determined with triggering gating area
Module redefines gating area.
The utility model has the advantages that
The present invention correspondingly changes the gating region of array of magnetic sensors by knowing magnetic source position in real time, same to reduce
When the number of sensor that works, to reduce the calculation amount of nonlinear optimization algorithm, and make magnetic source be in detection array can to examine
The relatively good position in range is surveyed, higher detection accuracy can be obtained.
Detailed description of the invention
Fig. 1 is array of magnetic sensors outside drawing.
Fig. 2 is gating array of magnetic sensors work flow diagram.
Fig. 3 is square gating area schematic.
Fig. 4 is round gating area schematic.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of for determining the device of pose in capsule endoscope body, wherein sets capsule endoscope
In internal, array of magnetic sensors is placed in immediately below abdomen.Array of magnetic sensors is by control module and array of magnetic sensors two
Divide and constitutes.
Wherein, control module, by having reception, calculating, storage, the electronic circuit or processor structure for sending data function
At, be responsible for receive and save array of magnetic sensors output magnetic density data, operation nonlinear algorithm estimation magnetic source pose, to
Array of magnetic sensors output gating control instruction.
Wherein, array of magnetic sensors, by the N number of three axis magnetic density sensor of M x form be located at one it is coplanar on
M row N arranges (M >=2, N >=2 are integer) rectangle array of magnetic sensors.As shown in Figure 1, setting in space, there are right hand rectangular co-ordinates
It is E, origin O, plane where array of magnetic sensors is overlapped with the X/Y plane of coordinate system E, and the column ordinal number of array of magnetic sensors
Incremented by successively along X-axis positive direction, row ordinal number is incremented by successively along Y-axis positive direction.The line space of array of magnetic sensors is λ, column pitch
For μ.
Wherein, it is built-in with magnetic source δ in capsule endoscope to be detected, can detect in range and moves in array of magnetic sensors
It is dynamic.
The concrete methods of realizing of specific gating array of magnetic sensors is introduced below in conjunction with Fig. 2:
Step 1, initialization central sensor
Using pose calculating method or magnetic density modulus value comparison method, by array of magnetic sensors, most apart from capsule endoscope
Close sensor is initialized.
A, pose calculating method:
The full array magnetic density sampling of step 1.1A
As shown in Figure 1, plane where array of magnetic sensors is overlapped with the X/Y plane of coordinate system E, it is assumed that array of magnetic sensors
M row N column are calculated as, then enable the position coordinates for the Magnetic Sensor for being located at the i-th row jth column on array of magnetic sensors that can be denoted as (xij,
yij, 0), and the sampling period of Magnetic Sensor is set as Δ T.
Position coordinates by magnetic source δ n-th of sampling period are denoted as (xδ(nΔT),yδ(nΔT),zδ(n Δ T)), then this
When positioned at the i-th row jth column magnetic density value of the Magnetic Sensor on three orthogonal directions that n-th of sampling period measures, point
B is not denoted as itij,x(n Δ T), Bij,y(n Δ T), Bij,z(n Δ T), wherein 1≤i≤M, 1≤j≤N.The magnetic density value can be with
Vector representation is denoted as:
Under initial situation, i.e. when n=0, the initial position co-ordinates of magnetic source δ are (xδ(0),yδ(0),zδ(0)), magnetic senses
All the sensors in device array simultaneously sample magnetic density caused by magnetic source, obtain M x N group magnetic density altogether
Data.Wherein, the magnetic density value on three orthogonal directions that the i-th row jth sensor measures is denoted as Bij,x(0), Bij,y(0),
Bij,z(0), wherein 1≤i≤M, 1≤j≤N are denoted as with vector representation:
Step 1.2A rejects invalid data
The three axis magnetic density data of M x N group that array of magnetic sensors obtains are sought into modulus value respectively, obtain each magnetic sensing
The magnetic density modulus value of deviceSet certain magnetic density modulus value threshold value Bn, reject
All modulus value are lower than threshold value BnMagnetic density data to reduce the calculation amount in step 1.3A.
Step 1.3A calculates magnetic source pose
Magnetic density modulus value in step 1.2A is not equal to 0 magnetic density, successively substitutes into magnetic dipole
Magnetic density distribution formulaWherein, μ0For Vacuum Magnetic
Conductance,For magnetic moment.To be located at the vector that the Magnetic Sensor of the i-th row jth column is directed toward magnetic source under initial situation,rij,tIt (0) is vectorModulus value,To sum up, equation group (1)~(3) can be obtained:
Valid data in M x N group magnetic density are substituted into equation group, then are obtained by solving nonlinear optimal problem
Obtain the pose of magnetic source original state.Wherein, magnetic source position is (xδ(0),yδ(0),zδ(0)).The nonlinear optimal problem can make
It is solved with " Gauss-Newton algorithm " or " Edward Lindberg-Ma Kuite algorithm " etc..
Step 1.4A initializes central sensor C using real-time tracking method
By magnetic source position coordinates (x counted in step 1.3Aδ(0),yδ(0),zδ(0)) it is projected in array of magnetic sensors
On X/Y plane, if subpoint coordinate is (x'δ(0),y'δ(0),z'δ(0)).Due to being the subpoint on X/Y plane, there is z'δ
(0)=0, it is known that subpoint coordinate (x'δ(0),y'δ(0),z'δ(0))=(xδ(0),yδ(0),0).On this basis, magnetic is chosen
Sensor C centered on the nearest Magnetic Sensor of the distance subpoint in sensor array.If on array of magnetic sensors simultaneously
There are multiple Magnetic Sensors nearest apart from the subpoint, then select sensor C centered on wherein any one Magnetic Sensor.And
Enter step 2.
B, magnetic density modulus value comparison method:
The full array magnetic density sampling of step 1.1B
Plane where array of magnetic sensors is overlapped with the X/Y plane of coordinate system E, therefore positioned at the i-th row the on array of magnetic sensors
The pose coordinate of the sensor of j column can be denoted as (xij,yij, 0), and the sampling period of Magnetic Sensor is set as Δ T.
Pose coordinate by magnetic source δ n-th of sampling period is denoted as (xδ(nΔT),yδ(nΔT),zδ(n Δ T)), it is located at
Magnetic density value of the sensor of i-th row jth column on three orthogonal directions that n-th of sampling period measures, is denoted as respectively
Bij,x(n Δ T), Bij,y(n Δ T), Bij,z(n Δ T), wherein 1≤i≤M, 1≤j≤N.The magnetic density value can be with vector table
Show, be denoted as:
Under initial situation, i.e. when n=0, the pose coordinate of magnetic source δ is (xδ(0),yδ(0),zδ(0)), Magnetic Sensor battle array
All the sensors in column simultaneously sample magnetic density caused by magnetic source, obtain M x N group magnetic density data altogether.
Wherein, the magnetic density value on three orthogonal directions that the i-th row jth sensor measures is denoted as Bij,x(0), Bij,y(0), Bij,z
(0), wherein 1≤i≤M, 1≤j≤N are denoted as with vector representation:
Step 1.2B seeks magnetic density modulus value
The three axis magnetic density data of M x N group of acquisition are sought into modulus value respectively, obtain the magnetic density of each Magnetic Sensor
Modulus value Bij(0),
Step 1.3B initializes central sensor C
The N number of magnetic density modulus value of M x acquired by step 1.2B is compared, maximum magnetic density modulus value is screened out from it,
And the Magnetic Sensor for measuring maximum magnetic density modulus value is set as central sensor C.If existed simultaneously on array of magnetic sensors
Multiple magnetic density modulus value are the Magnetic Sensor of maximum value, then select sensor C centered on wherein any one Magnetic Sensor.And
Enter step 2.
Step 2 chooses gating region
, according to " quadrate array " or " circular array ", the selection in gating region should be realized centered on sensor C.
A, quadrate array
Centered on sensor C, make square gating region by side length of certain length a, as shown in Figure 3.Wherein, length a
Selection it is related with Magnetic Sensor range, magnetic source magnetic moment to be measured, should ensure that be located at square gating edges of regions Magnetic Sensor
Measured magnetic density modulus value is at least more than environmental magnetic noise.Such mode can effectively avoid environmental magnetic noise to systematic survey
The adverse effect of precision.
B, circular array
Centered on sensor C, round gating region is done by radius of certain length r, as shown in Figure 4.Wherein, length r
Selection is related with Magnetic Sensor range, magnetic source magnetic moment to be measured, should ensure that the Magnetic Sensor for being located at round gating edges of regions is surveyed
Magnetic density modulus value is obtained at least more than environmental magnetic noise.Such mode can effectively avoid environmental magnetic noise to the measuring precision
Adverse effect.
Enter step 3.
Step 3 reads magnetic density value
Magnetic density sampling is carried out to the Magnetic Sensor in gating region, obtains the magnetic density of each Magnetic Sensor.
Step 4 calculates magnetic source pose
Magnetic source pose is calculated according to magnetic dipole magnetic density model.System n-th is gated the sensor in region to adopt
The magnetic density data that sample obtains substitute into magnetic dipole magnetic density distribution formula:
Wherein, μ0For space permeability,For
Magnetic moment.For n-th of sampling period, i.e. the n Δ T moment Magnetic Sensor that is located at the i-th row jth column arrow that is directed toward magnetic source
Amount,rij,t(n Δ T) is vectorModulus value,To sum up, equation group (4)~(6) can be obtained:
The data that the Magnetic Sensor gated in region is measured substitute into equation group, then by solving nonlinear optimal problem
Pose of the magnetic source at the n Δ T moment is obtained, magnetic source position (x can be obtainedδ(nΔT),yδ(nΔT),zδ(nΔT)).It is described non-linear excellent
" Gauss-Newton algorithm " or " Edward Lindberg-Ma Kuite algorithm " etc. can be used to solve for change problem.
Step 5 updates central sensor
According to magnetic source pose, a certain method in real-time tracking method, path planning or pose predicted method can be used, more
New central sensor.
A, real-time tracking method:
I.e. in the method for step 1.4A, according to magnetic source pose coordinate, by magnetic source pose coordinate projection in array of magnetic sensors
On, and, as new central sensor, the update of central sensor is completed for the nearest sensor of the projected position.
B, pose predicted method:
When the movement velocity of magnetic source remains unchanged within a short period of time, then the available approximation as described in following formula: xδ
((n+1)ΔT)-xδ(n Δ T)=xδ(nΔT)-xδ((n-1) Δ T), yδ((n+1)ΔT)-yδ(n Δ T)=yδ(nΔT)-yδ
((n-1) Δ T), zδ((n+1)ΔT)-zδ(n Δ T)=zδ(nΔT)-zδ((n-1)ΔT)。
On this basis according to the counted magnetic source position (x of nearest double samplingδ((n-1)ΔT),yδ((n-1)ΔT),zδ
((n-1) Δ T)) and (xδ(nΔT),yδ(nΔT),zδ(n Δ T)) it can get magnetic source in the estimated location in next sampling period:
Later, the estimated location is obtainedThrowing on X/Y plane
Shadow pointAnd choose the Magnetic Sensor that the distance subpoint is nearest on array of magnetic sensors
For center sensor C.If existing simultaneously multiple Magnetic Sensors nearest apart from the subpoint on array of magnetic sensors, choose
Wherein any one Magnetic Sensor is center sensor C.
After updating central sensor, return step 2, until doctor completes to stop the examination of the lesion of alimentary canal inner wall
Only work.
A kind of device detecting pose in capsule endoscope body, comprising:
Magnetic sensor locations comparison module, for comparing the position of Magnetic Sensor and magnetic source, obtain in magnetic sensor array with
The closest Magnetic Sensor in magnetic source position, centered on sensor；
Magnetic density obtains module, is side length or radius for centered on central sensor, taking length a, is formed square
Shape or circular gating area；And how corresponding acquire each Magnetic Sensor obtains in gating area magnetic density and magnetic density
Magnetic sensor locations；
Magnetic source pose obtain module, for according to each Magnetic Sensor position and magnetic density, obtain magnetic source pose；
Central sensor update module will be with the throwing for projecting the magnetic source pose of acquisition to array of magnetic sensors
The nearest Magnetic Sensor in shadow position is as new central sensor.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (1)
1. the device of pose in a kind of detection capsule endoscope body, it is characterised in that: include:
Preliminary pose determining module, for determining Magnetic Sensor closest with magnetic source position in magnetic sensor array, as in
The initial selected of heart sensor notifies selected central sensor to give gating area's determining module；
Area's determining module is gated, is side length or radius for centered on central sensor, taking length a, forms square or circle
The gating area of shape；
Magnetic density obtains module, close for acquiring each Magnetic Sensor obtains in the gating area magnetic density and magnetic current
Corresponding magnetic sensor locations are spent, magnetic source pose is supplied to and obtains module；
Magnetic source pose obtains module, for according to each Magnetic Sensor position and magnetic density, obtain magnetic source pose, be sent to
Heart sensor update module；
Central sensor update module will be with the projection position for projecting the magnetic source pose of acquisition to array of magnetic sensors
Nearest Magnetic Sensor is set as new central sensor, gating area's determining module is updated to, area's determining module is gated with triggering
Redefine gating area.
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| CN108460820B (en) * | 2018-01-29 | 2022-05-10 | 北京理工大学 | Micro mobile device control device and method based on image feedback |
| CN108490390B (en) * | 2018-02-28 | 2022-05-17 | 北京理工大学 | Mobile magnetic source positioning device |
| CN109324298B (en) * | 2018-09-06 | 2020-05-15 | 北京理工大学 | Magnetic source magnetic field signal detection method based on detection array motion planning |
| CN111390903A (en) * | 2020-03-13 | 2020-07-10 | 北京理工大学 | Device and method for monitoring interaction distance of magnetic control robot |
| CN111486838B (en) * | 2020-04-13 | 2022-02-01 | 北京理工大学 | Method and device for establishing effective magnetic connection |
| WO2024010530A1 (en) * | 2022-07-08 | 2024-01-11 | Singapore University Of Technology And Design | Apparatus and method for tracking a device having a magnet |
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| CN100469310C (en) * | 2004-06-14 | 2009-03-18 | 奥林巴斯株式会社 | Position detection system for a medical device and medical-device guidance system |
| US20070244388A1 (en) * | 2004-12-17 | 2007-10-18 | Ryoji Sato | Position Detection System, Guidance System, Position Detection Method, Medical Device, and Medical Magnetic-Induction and Position-Detection System |
| JP5096034B2 (en) * | 2007-04-27 | 2012-12-12 | オリンパスメディカルシステムズ株式会社 | Position detection device and medical device guidance system |
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