CN108042094A - The alignment system and its localization method of Wireless capsule endoscope 5DOF - Google Patents
The alignment system and its localization method of Wireless capsule endoscope 5DOF Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000004807 localization Effects 0.000 title claims abstract description 12
- 230000006698 induction Effects 0.000 claims abstract description 92
- 238000004364 calculation method Methods 0.000 claims abstract description 16
- 238000005070 sampling Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000001727 in vivo Methods 0.000 claims abstract description 3
- 230000003321 amplification Effects 0.000 claims description 18
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- 238000004422 calculation algorithm Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 6
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- 102100031144 Coilin Human genes 0.000 claims description 3
- 230000005674 electromagnetic induction Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
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- 108010051876 p80-coilin Proteins 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 5
- 238000005481 NMR spectroscopy Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012897 Levenberg–Marquardt algorithm Methods 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
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Classifications
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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
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- 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
- A61B1/273—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
- A61B1/2736—Gastroscopes
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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
- A61B1/31—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 rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
Abstract
The alignment system and its localization method of Wireless capsule endoscope 5DOF provided by the invention, including being arranged at the transmitting coil that outside human body and three axis are orthogonal, sampling module, position and directions calculation module, wireless sending module, external wireless receiving module and positioned in vivo Wireless capsule endoscope, using the transmitting coil for setting three axis orthogonal out of the human body, a uniaxial induction coil is only arranged in Wireless capsule endoscope, transmitting coil is placed near human body, the coil I of transmitting coil, coil II, 6 frequencies of coil III sequential transmissions and the different signal of amplitude form a cycle, i.e. in one cycle, each coil will emit 2 frequencies and the different signal of amplitude；So as to establish the calculating that equation group carries out three-dimensional position and 3 d pose, this method integrate conveniently, that uniaxial induction coil occupies Wireless capsule endoscope space is few, real-time continuous Wireless capsule endoscope can be positioned, facilitates subsequent operation, securely and reliably, of low cost.
Description
【Technical field】
The present invention relates to the alignment systems and its positioning of magnetic orientation technology more particularly to Wireless capsule endoscope 5DOF
Method.
【Background technology】
Currently, after Wireless capsule endoscope enters human body alimentary canal, under the collective effect wriggled in gravity and intestines and stomach certainly
By moving, lack and in real time, accurately position.Therefore, the Pose Control work of Wireless capsule endoscope cannot effectively be carried out；
Since image does not have the position and direction match information of camera lens, reconstruction of digestive tract work can not also be carried out；Number is not positioned in real time
According to doctor not can confirm that whether capsule is stuck during the inspection process.
Given Imaging companies more early position Wireless capsule endoscope using wireless radio-frequency, wrap later
It includes Chongqing Kingsoft Science and Technology Ltd. and all uses this method.8 or more wireless radio frequency antennas are pasted in human body surface, is received
The radiofrequency signal of Wireless capsule endoscope transmitting ex vivo, according to radio frequency signal propagation model foundation equation group, passes through algorithm
Solve the position that equation group obtains Wireless capsule endoscope.This method positioning accuracy is not high, and average positioning accuracy is 37.7 millimeters,
Clinical application effect is bad.
It has been proposed that Wireless capsule endoscope permanent magnetism localization method, minitype permanent magnetism is internally embedded in Wireless capsule endoscope
Body or the permanent-magnetic clamp in capsule outer cover arrange array of magnetic field acquisition multiple spot magnetic field, according to permanent magnetism in human peripheral
Spatial distribution model establishes equation group, and the position of Wireless capsule endoscope is obtained by Algorithm for Solving equation group；Permanent magnetism positioning tool
Have that precision is high, fireballing advantage.But permanent magnetism positioning there are one it is bigger the defects of be exactly that orientation distance is near, for energy
The permanent magnet of current capsule is put into, general effective detection range is in 10cm or so, it is difficult to meet human dimension requirement.
Also it has been proposed that arranging two triaxial induction coils in capsule, permanent magnet is allowed in vitro in the effect of shock module
Under reciprocating generation changing magnetic field, two triaxial induction coils output induced electromotive force in capsule；But two three
Axis induction coil will occupy capsule more space.
Imageological examination such as X-ray is imaged, and CT (computed tomography) imagings and MRI (nuclear magnetic resonance) imagings can also be used
In positioning Wireless capsule endoscope.But X-ray imaging, CT imagings should not position for a long time there are phototoxis；MRI imagings are current
Expense is more expensive.
【The content of the invention】
In order to solve the deficiencies in the prior art, the present invention provides one kind based on alternating magnetic field, using a three axis emission lines
The Wireless capsule endoscope 5DOF alignment system and its localization method of circle, uniaxial induction coil.Mono-axial is enclosed with nothing
Line capsule endoscope space is few, and it is convenient to integrate, and can position in real time, securely and reliably, of low cost, has for subsequent operation provider
Just the advantages of.
In order to realize foregoing invention purpose, the technical solution adopted by the present invention is：
The first invention purpose of the invention provides the alignment system of Wireless capsule endoscope 5DOF, including being arranged at people
External and orthogonal three axis transmitting coil, sampling module, position and directions calculation module, external wireless receiving module and positioned at body
Interior Wireless capsule endoscope, the Wireless capsule endoscope is built-in there are one uniaxial induction coil and wireless sending module, and three
Uniaxial induction coil built in axis orthogonal transmitting coil and Wireless capsule endoscope forms magnetic circuit by alternating magnetic field, samples mould
Block is directly connected to the uniaxial induction coil built in Wireless capsule endoscope, the wireless sending module built in Wireless capsule endoscope
It is connected with external wireless receiving module by wireless signal, position and directions calculation module directly connect with external wireless receiving module
It connects；The transmitting coil is made of the orthogonal coil I of three axis, coil II and coil III, the coil I, coil II and coil
The signal of the respective fixed frequency of III sequential transmissions, coil I, coil II, 6 frequencies of coil III sequential transmissions and amplitude are different
Signal form a cycle, i.e., in one cycle, each coil will emit 2 frequencies and the different signal of amplitude.
Further, the Wireless capsule endoscope further includes signal amplification module and analog-to-digital conversion module；The single shaft
Induction coil is directly connected to signal amplification module, and the signal amplification module is directly connected to wireless sending module.
Further, the Wireless capsule endoscope is additionally provided with the acquisition filtering that noise filtering is carried out to the signal of acquisition
Module, external wireless receiving module are also associated with carrying out the sampled signal of reception the module that accepts filter of noise filtering.
Further, the uniaxial induction coil layout on the central axes of Wireless capsule endoscope or in wireless capsule
On the direction of sight glass axis parallel.
Further, the coil I emits 2 frequencies and the different signal of amplitude in regular intervals；Then, institute
It states coil II and emits 2 signals different from coil I frequencies and amplitude in regular intervals；Finally, the coil III is pressed
Fixed Time Interval emits 2 signals different from coil I and coil II frequencies and amplitude.
Further, the coil I, coil II, coil III emit 1 different frequency and the signal of amplitude successively；So
Afterwards, the coil I, coil II, coil III emit one and preceding once equal different frequency and the signal of amplitude successively again.
Second goal of the invention of invention, provides the localization method of Wireless capsule endoscope 5DOF, comprises the following steps：
Step 1, the transmitting coil for setting three axis orthogonal out of the human body, are provided with uniaxial sensing in Wireless capsule endoscope
Coil and wireless sending module simultaneously enter with Wireless capsule endoscope in human body, and transmitting coil is by the orthogonal coil I of three axis, coil
II and coil III compositions；
Step 2, using the coordinate system OXYZ that three axis where transmitting coil are established as referring to coordinate system, uniaxial induction coil
Central point is (x, y, z) in the coordinate of OXYZ coordinate systems, is converted into Wireless capsule endoscope center in reference frame
Position；Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate systems, represents the direction of Wireless capsule endoscope；
The coordinate (x, y, z) and direction vector (vx, vy, vz) of uniaxial induction coil central point are the parameter of positioning；
Step 3, after the power is turned on, coil I, coil II and the coil III of transmitting coil sequential transmission 2 within each cycle
Frequency and the different signal of amplitude；
The output voltage of the uniaxial induction coil of amplification module amplification in step 4, Wireless capsule endoscope；
Output voltage of the analog-to-digital conversion module sampling by amplification in step 5, Wireless capsule endoscope；
Wireless sending module in step 6, Wireless capsule endoscope sends sampled signal；
Step 7, external wireless receiving module receive sampled signal, and are sent to position and directions calculation module；
The position and direction information process that step 8, position and directions calculation module calculate Wireless capsule endoscope is as follows：
Solve 6 unknown parameters (x, y, z, vx, vy, vz) of Wireless capsule endoscope position and direction；
Each axis of three axis transmitting coils is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole exists
The magnetic density of generation is at uniaxial induction coil center inside Wireless capsule endoscopeAlong reference frame OXYZ's
Three quadrature components of X, Y, Z axis, as shown in formula (1), (2), (3)：
Wherein, (x, y, z) is the position at uniaxial induction coil center, and (m, n, p) is the direction vector of each axis of transmitting coil,
(a, b, c) is the position of transmitting coil, BTIt is a constant related with transmitting coil, L is induction coil to transmitting coil
Distance, shown in L such as formula (4)：
Magnetic densityThere are angle, magnetic densities with the direction vector of uniaxial induction coilIn induction coil list
Projection vector on the direction vector of position, as shown in formula (5)：
Wherein (vx, vy, vz) is uniaxial induction coil unit one belongs to direction vector,Along X, Y of reference frame OXYZ,
Three quadrature components of Z axis, respectively as shown in formula (6), (7), (8)：
Uniaxial induction coil output voltage signal, according to Faraday's electromagnetic induction law, the sense of uniaxial induction coil generation
Electromotive force is answered, as shown in formula (9)：
Wherein, N is uniaxial number of inductive coil turns, and φ is the magnetic flux through curved surface S.
Due to uniaxial induction coil very little, therefore its volume can be ignored, it is believed that uniaxial induction coil magnetic density everywhere
It is equal, so formula (9) becomes shown in formula (10)：
BecauseDirection is identical with the direction of uniaxial induction coil, so obtaining as shown in formula (11)：
If emitting the sinusoidal signal of given frequency, the other signals of given frequency can be also used certainly, it is impossible to utilize its restriction
Signal used by transmitting, magnetic density are described as shown in formula (12)：
So far, it can be deduced that the relational expression between uniaxial induction coil output voltage values and magnetic density, such as formula
(13) shown in：
The output voltage signal of uniaxial induction coil is the cosine signal with emitting signal same frequency, takes the amplitude of the signal
Equation group is established, makes ET=-ω NS are obtained shown in formula (14)：
εmax=-ω NB'maxS=ET·B'max (14)
With the amplitude of Fast Fourier Transform (FFT) extraction cosine signal, other methods can be also used certainly, it is impossible to utilize its restriction
Extract the mode of cosine signal amplitude；
Three axis transmitting coils emit the sinusoidal signal of respective amplitude and frequency, in one cycle, the uniaxial line of induction successively
Circle 6 groups of voltage signals of output, so as to establish 6 equations, 6 of solution description Wireless capsule endoscope position and direction are not
Know parameter；Due to direction vector (vx, vy, the vz) unit vector of uniaxial induction coil, so, it is further added by a constraint side
Journey, as shown in formula (15)：
vx2+vy2+vz2=1 (15)
If ε 'imax(i=1,2,3,4,5,6) are the output voltage amplitudes of uniaxial induction coil in Wireless capsule endoscope,
εimaxIt is the theoretical expression of amplitude, defines shown in error E such as formula (16)：
Using optimization algorithm, such as Levenberg-Marquardt algorithms, other methods can be also used certainly, it is impossible to utilize it
Optimization algorithm used by restriction；Make E minimum, can solve Wireless capsule endoscope position and direction parameter (x, y, z,
vx,vy,vz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, position and directions calculation module, in real time
Reflect the pose of current Wireless capsule endoscope, person's observation easy to operation or subsequent applications.
Further, further included in the step 5：The acquisition filter module set in Wireless capsule endoscope is to sampling
Signal carries out noise filtering.
Further, further included in the step 7：External wireless receiving module is also associated with the module that accepts filter, and docks
The sampled signal of receipts carries out noise filtering.
Further, the coil I of transmitting coil, coil II and coil III tranmitting frequencies and amplitude mode in the step 3
For：First, coil I emits 2 frequencies and the different signal of amplitude in regular intervals；Then, the coil II is by solid
It fixes time and is spaced 2 signals different from coil I frequencies and amplitude of transmitting；Finally, the coil III is in regular intervals
Emit 2 signals different from coil I and coil II frequencies and amplitude.
Further, the coil I of transmitting coil, coil II and coil III tranmitting frequencies and amplitude mode in the step 3
For：First, coil I, coil II, coil III emit 1 different frequency and the signal of amplitude successively；Then, the coil I, line
It encloses II, coil III and emits one and preceding once equal different frequency and the signal of amplitude successively again.
The beneficial effects of the invention are as follows：
The present invention is based on alternating magnetic fields, the orthogonal transmitting coil of three axis are disposed about in human body, in Wireless capsule endoscope
The interior uniaxial induction coil of arrangement one, reference frame OXYZ, uniaxial induction coil are established with three axis where transmitting coil
Central point is (x, y, z) in the coordinate of OXYZ coordinate systems, can be converted into Wireless capsule endoscope center in reference frame
Position；Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate systems, can represent Wireless capsule endoscope
Direction；The coordinate (x, y, z) and direction vector (vx, vy, vz) of uniaxial induction coil central point are the parameter of positioning.
Coil I, coil II, 6 frequencies of coil III sequential transmissions and the different signal of amplitude of transmitting coil, line
Circle I, coil II, coil III have emitted 6 signals, are known as a cycle；Three axial coils correspond to phase in different cycles transmitting signal
Together.Uniaxial induction coil exportable 6 frequencies and the different voltage signal of amplitude in one cycle, so as to establish
The equation group of 6 equations is included, the parameter of positioning can be obtained by solving equation group using optimization algorithm, realize 5DOF (position：3
Degree of freedom, direction：2DOF) measurement.
By using a three axis transmitting coils, a uniaxial induction coil, uniaxial induction coil is occupied in wireless capsule
Sight glass space is few, and it is convenient to integrate, and can position in real time, securely and reliably, of low cost, can be provided for subsequent operation conveniently.
【Description of the drawings】
Fig. 1 is the structure for amplifying of uniaxial coil layout inside the external three axis transmitting coil of the present invention and Wireless capsule endoscope
Schematic diagram；
Fig. 2 is the positioning flow figure of the present invention.
【Specific embodiment】
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
The alignment system of Wireless capsule endoscope 5DOF, as shown in Figure 1, the positioning of Wireless capsule endoscope 5DOF
System, including being arranged at transmitting coil, sampling module, position and the directions calculation module, external nothing that outside human body and three axis are orthogonal
Line receiving module and positioned in vivo Wireless capsule endoscope, built in Wireless capsule endoscope there are one uniaxial induction coil and
Wireless sending module, as shown in a parts in Fig. 1, a uniaxial induction coil layout is in Wireless capsule endoscope；Three axis are just
Uniaxial induction coil built in the transmitting coil and Wireless capsule endoscope of friendship forms magnetic circuit by alternating magnetic field, sampling module with
Uniaxial induction coil built in Wireless capsule endoscope is directly connected to, wireless sending module and body built in Wireless capsule endoscope
Outer wireless receiving module is connected by wireless signal, and position and directions calculation module are directly connected to external wireless receiving module；
The transmitting coil is made of the orthogonal coil I of three axis, coil II and coil III, the coil I, coil II and coil III orders
Emit the signal of respective fixed frequency, coil I, coil II, 6 frequencies of coil III sequential transmissions and the different signal of amplitude
A cycle is formed, i.e., in one cycle, each coil will emit 2 frequencies and the different signal of amplitude；The transmitting
Magnetic circuit, the Wireless capsule endoscope and external wireless receiving are formed by alternating magnetic field between coil and Wireless capsule endoscope
It is connected by wireless signal between module, is directly connected between the pose computing module and external wireless receiving module.
Moreover, the Wireless capsule endoscope further includes signal amplification module and modulus (AD) modular converter, the uniaxial line of induction
Circle is directly connected to signal amplification module, and signal amplification module is directly connected to wireless sending module；In Wireless capsule endoscope
The acquisition filter module that noise filtering is carried out to the signal of acquisition is inside additionally provided with, wireless receiving module is also associated with pair in vitro
The sampled signal of reception carries out the module that accepts filter of noise filtering.
Continue as shown in Figure 1, uniaxial induction coil layout is on the central axes of Wireless capsule endoscope or and wireless capsule
On the direction of endoscope axis parallel；As shown in the b parts in Fig. 1, uniaxial induction coil layout with wireless capsule in peep
On the direction of mirror axis parallel；As shown in the c parts in Fig. 1, uniaxial induction coil layout is in Wireless capsule endoscope
On axis.
Wherein, the coil I of transmitting coil, coil II and tranmitting frequency in coil III and amplitude are sent out using two ways
It penetrates, a kind of mode is：First, coil I emits 2 frequencies and the different signal of amplitude in regular intervals；Then, it is described
Coil II emits 2 signals different from coil I frequencies and amplitude in regular intervals；Finally, the coil III is by solid
It fixes time and is spaced 2 signals different from coil I and coil II frequencies and amplitude of transmitting.Another way is：First, coil
I, coil II, coil III emit 1 different frequency and the signal of amplitude successively；Then, the coil I, coil II, coil III
Emit one and preceding once equal different frequency and the signal of amplitude successively again.
The localization method of the Wireless capsule endoscope 5DOF of the embodiment, as shown in Fig. 2, comprising the following steps：
Step 1, the transmitting coil for setting three axis orthogonal out of the human body, are provided with uniaxial sensing in Wireless capsule endoscope
Coil and wireless sending module simultaneously enter with Wireless capsule endoscope in human body, and transmitting coil is by the orthogonal coil I of three axis, coil
II and coil III compositions；
Step 2, using the coordinate system OXYZ that three axis where transmitting coil are established as referring to coordinate system, uniaxial induction coil
Central point is (x, y, z) in the coordinate of OXYZ coordinate systems, is converted into Wireless capsule endoscope center in reference frame
Position；Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate systems, represents the direction of Wireless capsule endoscope；
The coordinate (x, y, z) and direction vector (vx, vy, vz) of uniaxial induction coil central point are the parameter of positioning；
Step 3, after the power is turned on, coil I, coil II and the coil III of transmitting coil sequential transmission 2 within each cycle
Frequency and the different signal of amplitude；
The output voltage of the uniaxial induction coil of amplification module amplification in step 4, Wireless capsule endoscope；
Output voltage of modulus (AD) modular converter sampling by amplification in step 5, Wireless capsule endoscope, in the step
The acquisition filter module set in Wireless capsule endoscope is further included in 5, noise filtering is carried out to the signal of sampling；
Wireless sending module in step 6, Wireless capsule endoscope sends sampled signal；
Step 7, external wireless receiving module receive sampled signal, and are sent to position and directions calculation module；In the step
External wireless receiving module is also associated with the module that accepts filter in rapid, and noise filtering is carried out to the sampled signal of reception；
The position and direction information process that step 8, position and directions calculation module calculate Wireless capsule endoscope is as follows：
Solve 6 unknown parameters (x, y, z, vx, vy, vz) of Wireless capsule endoscope position and direction；
Each axis of three axis transmitting coils is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole exists
The magnetic density of generation is at uniaxial induction coil center inside Wireless capsule endoscopeAlong reference frame OXYZ's
Three quadrature components of X, Y, Z axis, as shown in formula (1), (2), (3)：
Wherein, (x, y, z) is the position at uniaxial induction coil center, and (m, n, p) is the direction vector of each axis of transmitting coil,
(a, b, c) is the position of transmitting coil, BTIt is a constant related with transmitting coil, L is induction coil to transmitting coil
Distance, shown in L such as formula (4)：
Magnetic densityThere are angle, magnetic densities with the direction vector of uniaxial induction coilIn induction coil list
Projection vector on the direction vector of position, as shown in formula (5)：
Wherein (vx, vy, vz) is uniaxial induction coil unit one belongs to direction vector,Along X, Y of reference frame OXYZ,
Three quadrature components of Z axis, respectively as shown in formula (6), (7), (8)：
Uniaxial induction coil output voltage signal, according to Faraday's electromagnetic induction law, the sense of uniaxial induction coil generation
Electromotive force is answered, as shown in formula (9)：
Wherein, N is uniaxial number of inductive coil turns, and φ is the magnetic flux through curved surface S.
Due to uniaxial induction coil very little, therefore its volume can be ignored, it is believed that uniaxial induction coil magnetic density everywhere
It is equal, so formula (9) becomes shown in formula (10)：
BecauseDirection is identical with the direction of uniaxial induction coil, so obtaining as shown in formula (11)：
If emitting the sinusoidal signal of given frequency, the other signals of given frequency can be also used certainly, it is impossible to utilize its restriction
Signal used by transmitting, magnetic density are described as shown in formula (12)：
So far, it can be deduced that the relational expression between uniaxial induction coil output voltage values and magnetic density, such as formula
(13) shown in：
The output voltage signal of uniaxial induction coil is the cosine signal with emitting signal same frequency, takes the amplitude of the signal
Equation group is established, makes ET=-ω NS are obtained shown in formula (14)：
εmax=-ω NB'maxS=ET·B'max (14)
With the amplitude of Fast Fourier Transform (FFT) extraction cosine signal, other methods can be also used certainly, it is impossible to utilize its restriction
Extract the mode of cosine signal amplitude；
Three axis transmitting coils emit the sinusoidal signal of respective amplitude and frequency, in one cycle, the uniaxial line of induction successively
Circle 6 groups of voltage signals of output, so as to establish 6 equations, 6 of solution description Wireless capsule endoscope position and direction are not
Know parameter；Due to direction vector (vx, vy, the vz) unit vector of uniaxial induction coil, so, it is further added by a constraint side
Journey, as shown in formula (15)：
vx2+vy2+vz2=1 (15)
If ε 'imax(i=1,2,3,4,5,6) are the output voltage amplitudes of uniaxial induction coil in Wireless capsule endoscope,
εimaxIt is the theoretical expression of amplitude, defines shown in error E such as formula (16)：
Using optimization algorithm, such as Levenberg-Marquardt algorithms, other methods can be also used certainly, it is impossible to utilize it
Restriction uses optimization algorithm；Make E minimum, can solve Wireless capsule endoscope position and direction parameter (x, y, z, vx,
vy,vz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, position and directions calculation module, in real time
Reflect the pose of current Wireless capsule endoscope, person's observation easy to operation or subsequent applications.
Embodiment described above is simply presently preferred embodiments of the present invention, and but not intended to limit the scope of the present invention,
Except in the case of being enumerated in specific embodiment, all equivalence changes made according to the principle of the invention should all be covered by the present invention's
In protection domain.
Claims (11)
1. the alignment system of Wireless capsule endoscope 5DOF, including being arranged at the transmitting coil, position that outside human body and three axis are orthogonal
It puts and directions calculation module, external wireless receiving module and positioned in vivo Wireless capsule endoscope, it is characterised in that：
Uniaxial induction coil, sampling module, wireless sending module, three axis are orthogonal there are one the Wireless capsule endoscope is built-in
Uniaxial induction coil built in transmitting coil and Wireless capsule endoscope forms magnetic circuit by alternating magnetic field, sampling module with it is wireless
Uniaxial induction coil built in capsule endoscope is directly connected to, the wireless sending module built in Wireless capsule endoscope and external nothing
Line receiving module is connected by wireless signal, and position and directions calculation module are directly connected to external wireless receiving module；
The transmitting coil is made of the orthogonal coil I of three axis, coil II and coil III, the coil I, coil II and coil
The signal of the respective frequency of III sequential transmissions, coil I, coil II, 6 frequencies of coil III sequential transmissions and the different letter of amplitude
Number a cycle is formed, i.e., in one cycle, each coil will emit 2 frequencies and the different signal of amplitude.
2. the alignment system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that described wireless
Capsule endoscope further includes signal amplification module and analog-to-digital conversion module；The single shaft induction coil and signal amplification module are direct
Connection, the signal amplification module are directly connected to sampling module.
3. the alignment system of Wireless capsule endoscope 5DOF according to claim 1 or 2, which is characterized in that the nothing
Line capsule endoscope is additionally provided with the acquisition filter module filtered out to the signal of acquisition, and external wireless receiving module is also connected with
There is the module that accepts filter that noise filtering is carried out to the sampled signal of reception.
4. the alignment system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the single shaft
Induction coil layout on the central axes of Wireless capsule endoscope or on the direction of Wireless capsule endoscope axis parallel.
5. the alignment system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the coil I
Emit 2 frequencies and the different signal of amplitude in regular intervals；Then, the coil II emits in regular intervals
2 signals different from coil I frequencies and amplitude；Finally, the coil III emits 2 and coil I in regular intervals
The different signal with coil II frequencies and amplitude.
6. the alignment system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the coil
I, coil II, coil III emit 1 different frequency and the signal of amplitude successively；Then, the coil I, coil II, coil III
Emit one and preceding once equal different frequency and the signal of amplitude successively again.
7. the localization method of Wireless capsule endoscope 5DOF, which is characterized in that comprise the following steps：
Step 1, the transmitting coil for setting three axis orthogonal out of the human body, are provided with uniaxial induction coil in Wireless capsule endoscope
Enter with wireless sending module and with Wireless capsule endoscope in human body, transmitting coil by the orthogonal coil I of three axis, coil II and
Coil III is formed；
Step 2, using the coordinate system OXYZ that three axis where transmitting coil are established as referring to coordinate system, uniaxial induction coil center
Point is (x, y, z) in the coordinate of OXYZ coordinate systems, is converted into Wireless capsule endoscope center in the position of reference frame；
Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate systems, represents the direction of Wireless capsule endoscope；It is uniaxial
The coordinate (x, y, z) and direction vector (vx, vy, vz) of induction coil central point are the parameter of positioning；
Step 3, after the power is turned on, coil I, coil II and the coil III of transmitting coil 2 frequencies of sequential transmission within each cycle
The different signal with amplitude；
The output voltage of the uniaxial induction coil of amplification module amplification in step 4, Wireless capsule endoscope；
Output voltage of the analog-to-digital conversion module sampling by amplification in step 5, Wireless capsule endoscope；
Wireless sending module in step 6, Wireless capsule endoscope sends sampled signal；
Step 7, external wireless receiving module receive sampled signal, and are sent to position and directions calculation module；
The position and direction information process that step 8, position and directions calculation module calculate Wireless capsule endoscope is as follows：
Solve 6 unknown parameters (x, y, z, vx, vy, vz) of Wireless capsule endoscope position and direction；
Each axis of three axis transmitting coils is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole is wireless
The magnetic density of generation is at uniaxial induction coil center inside capsule endoscope Along X, Y, Z of reference frame OXYZ
Three quadrature components of axis such as formula (1), (2), (3) are shown：
<mrow>
<msub>
<mi>B</mi>
<mi>x</mi>
</msub>
<mo>=</mo>
<msub>
<mi>B</mi>
<mi>T</mi>
</msub>
<mo>{</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mo>&lsqb;</mo>
<mi>m</mi>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>p</mi>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mo>-</mo>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
</mrow>
<msup>
<mi>L</mi>
<mn>5</mn>
</msup>
</mfrac>
<mo>-</mo>
<mfrac>
<mi>m</mi>
<msup>
<mi>L</mi>
<mn>3</mn>
</msup>
</mfrac>
<mo>}</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>B</mi>
<mi>y</mi>
</msub>
<mo>=</mo>
<msub>
<mi>B</mi>
<mi>T</mi>
</msub>
<mo>{</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mo>&lsqb;</mo>
<mi>m</mi>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>p</mi>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mo>-</mo>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
</mrow>
<msup>
<mi>L</mi>
<mn>5</mn>
</msup>
</mfrac>
<mo>-</mo>
<mfrac>
<mi>n</mi>
<msup>
<mi>L</mi>
<mn>3</mn>
</msup>
</mfrac>
<mo>}</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>B</mi>
<mi>z</mi>
</msub>
<mo>=</mo>
<msub>
<mi>B</mi>
<mi>T</mi>
</msub>
<mo>{</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mo>&lsqb;</mo>
<mi>m</mi>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>p</mi>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mo>-</mo>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mo>-</mo>
<mi>c</mi>
<mo>)</mo>
</mrow>
</mrow>
<msup>
<mi>L</mi>
<mn>5</mn>
</msup>
</mfrac>
<mo>-</mo>
<mfrac>
<mi>p</mi>
<msup>
<mi>L</mi>
<mn>3</mn>
</msup>
</mfrac>
<mo>}</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, (x, y, z) is the position at uniaxial induction coil center, and (m, n, p) is the direction vector of each axis of transmitting coil, (a,
B, c) be transmitting coil position, BTA constant related with transmitting coil, L be induction coil to transmitting coil away from
From shown in L such as formula (4)：
<mrow>
<mi>L</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>z</mi>
<mo>-</mo>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Magnetic densityThere are angle, magnetic densities with the direction vector of uniaxial induction coilIn induction coil unit side
Shown in projection vector such as formula (5) on vector：
<mrow>
<msup>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>.</mo>
<mo>(</mo>
<mrow>
<mi>v</mi>
<mi>x</mi>
<mo>,</mo>
<mi>v</mi>
<mi>y</mi>
<mo>,</mo>
<mi>v</mi>
<mi>z</mi>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mi>x</mi>
<mo>,</mo>
<mi>v</mi>
<mi>y</mi>
<mo>,</mo>
<mi>v</mi>
<mi>z</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein (vx, vy, vz) is uniaxial induction coil unit one belongs to direction vector,Along the X, Y, Z axis of reference frame OXYZ
Three quadrature components, respectively as shown in formula (6), (7), (8)：
<mrow>
<msubsup>
<mi>B</mi>
<mi>x</mi>
<mo>&prime;</mo>
</msubsup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>.</mo>
<mo>(</mo>
<mrow>
<mi>v</mi>
<mi>x</mi>
<mo>,</mo>
<mi>v</mi>
<mi>y</mi>
<mo>,</mo>
<mi>v</mi>
<mi>z</mi>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>.</mo>
<mi>v</mi>
<mi>x</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msubsup>
<mi>B</mi>
<mi>y</mi>
<mo>&prime;</mo>
</msubsup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>.</mo>
<mo>(</mo>
<mrow>
<mi>v</mi>
<mi>x</mi>
<mo>,</mo>
<mi>v</mi>
<mi>y</mi>
<mo>,</mo>
<mi>v</mi>
<mi>z</mi>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>.</mo>
<mi>v</mi>
<mi>y</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msubsup>
<mi>B</mi>
<mi>z</mi>
<mo>&prime;</mo>
</msubsup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>.</mo>
<mo>(</mo>
<mrow>
<mi>v</mi>
<mi>x</mi>
<mo>,</mo>
<mi>v</mi>
<mi>y</mi>
<mo>,</mo>
<mi>v</mi>
<mi>z</mi>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>.</mo>
<mi>v</mi>
<mi>z</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
Uniaxial induction coil output voltage signal, according to Faraday's electromagnetic induction law, the induced electricity of uniaxial induction coil generation
Kinetic potential, as shown in formula (9)：
Wherein, N is uniaxial number of inductive coil turns, and φ is the magnetic flux through curved surface S.
Since uniaxial induction coil is very small, therefore its volume can be ignored, it is believed that uniaxial induction coil magnetic density phase everywhere
Deng so formula (9) becomes shown in formula (10)：
<mrow>
<mi>&epsiv;</mi>
<mo>=</mo>
<mo>-</mo>
<mi>N</mi>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<mi>d</mi>
<mrow>
<mo>(</mo>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>&CenterDot;</mo>
<mover>
<mi>S</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mrow>
BecauseDirection is identical with the direction of uniaxial induction coil, so obtaining as shown in formula (11)：
<mrow>
<msup>
<mover>
<mi>B</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>&prime;</mo>
</msup>
<mo>&CenterDot;</mo>
<mover>
<mi>S</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>=</mo>
<msup>
<mi>B</mi>
<mo>&prime;</mo>
</msup>
<mi>S</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>11</mn>
<mo>)</mo>
</mrow>
</mrow>
If emitting the sinusoidal signal of given frequency, magnetic density is described as shown in formula (12)：
So far, it can be deduced that the relational expression between uniaxial induction coil output voltage values and magnetic density, as shown in formula (13)：
The output voltage signal of uniaxial induction coil is the cosine signal with emitting signal same frequency, and the amplitude of the signal is taken to build
Vertical equation group, makes ET=-ω NS are obtained shown in formula (14)：
εmax=-ω NB'maxS=ET·B'max (14)
With the amplitude of Fast Fourier Transform (FFT) extraction cosine signal；
Three axis transmitting coils emit the sinusoidal signal of respective amplitude and frequency successively, and in one cycle, uniaxial induction coil is defeated
Go out 6 groups of voltage signals, so as to establish 6 equations, solve 6 unknown ginsengs of description Wireless capsule endoscope position and direction
Number；Due to direction vector (vx, vy, the vz) unit vector of uniaxial induction coil, so, a constraint equation is further added by, such as
Shown in formula (15)：
vx2+vy2+vz2=1 (15)
If εi'max(i=1,2,3,4,5,6) are the output voltage amplitudes of uniaxial induction coil in Wireless capsule endoscope, εimaxIt is
The theoretical expression of amplitude is defined shown in error E such as formula (16)：
<mrow>
<mi>E</mi>
<mo>=</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>vx</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>vy</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>vz</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mn>6</mn>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>&epsiv;</mi>
<mrow>
<mi>i</mi>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msubsup>
<mi>&epsiv;</mi>
<mrow>
<mi>i</mi>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>16</mn>
<mo>)</mo>
</mrow>
</mrow>
Using optimization algorithm, make E minimum, can solve Wireless capsule endoscope position and direction parameter (x, y, z, vx,
vy,vz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, position and directions calculation module, is reflected in real time
The pose of current Wireless capsule endoscope, person's observation easy to operation or subsequent applications.
8. the localization method of Wireless capsule endoscope 5DOF according to claim 7, which is characterized in that the step 5
In further include：The acquisition filter module set in Wireless capsule endoscope carries out noise filtering to the signal of sampling.
9. the localization method of Wireless capsule endoscope 5DOF according to claim 7, which is characterized in that the step 7
In further include：External wireless receiving module is also associated with the module that accepts filter, and noise filtering is carried out to the sampled signal of reception.
10. the localization method of Wireless capsule endoscope 5DOF according to claim 7, which is characterized in that the step
The coil I of transmitting coil, coil II and coil III tranmitting frequencies and amplitude mode are in 3：First, coil I is by between the set time
Every the different signal of 2 frequencies of transmitting and amplitude；Then, the coil II emits 2 and coil I frequencies in regular intervals
Rate and the different signal of amplitude；Finally, the coil III emits 2 and coil I and coil II frequencies in regular intervals
The different signal with amplitude.
11. the localization method of Wireless capsule endoscope 5DOF according to claim 7, which is characterized in that the step
The coil I of transmitting coil, coil II and coil III tranmitting frequencies and amplitude mode are in 3：First, coil I, coil II, coil
III emits 1 different frequency and the signal of amplitude successively；Then, the coil I, coil II, coil III emit one successively again
The signal of a and preceding once equal different frequency and amplitude.
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| CN111207737A (en) * | 2020-03-01 | 2020-05-29 | 中北大学 | Capsule robot posture measuring system and method based on three-dimensional coil |
| CN111256692A (en) * | 2020-03-01 | 2020-06-09 | 中北大学 | Capsule robot attitude determination system and method based on sensor and one-dimensional coil |
| CN111839431A (en) * | 2020-07-24 | 2020-10-30 | 福建世新机器人科技有限公司 | Wireless capsule robot system and control method |
| CN114543645A (en) * | 2022-02-21 | 2022-05-27 | 成都思瑞定生命科技有限公司 | Magnetic field target positioning system and method |
| CN115153412A (en) * | 2022-09-09 | 2022-10-11 | 北京华信佳音医疗科技发展有限责任公司 | Colonoscope system and control method thereof |
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