CN108451490A - A kind of system and method for searching capsule endoscope in gastrovascular cavity body - Google Patents
A kind of system and method for searching capsule endoscope in gastrovascular cavity body Download PDFInfo
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- CN108451490A CN108451490A CN201810083630.8A CN201810083630A CN108451490A CN 108451490 A CN108451490 A CN 108451490A CN 201810083630 A CN201810083630 A CN 201810083630A CN 108451490 A CN108451490 A CN 108451490A
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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
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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
- A61B1/041—Capsule endoscopes for imaging
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Abstract
The system that the invention discloses a kind of to search capsule endoscope in gastrovascular cavity body, including：Magnet, driving device, processor, capsule endoscope are provided with permanent magnet, wireless telecom equipment, 3-axis acceleration sensor and triaxial magnetic field sensor in the capsule endoscope；Processor is moved in digestion cavity upper horizontal face by desired trajectory for controlling magnet；And according to 3-axis acceleration sensor and triaxial magnetic field sensor measured value, judge whether the location point for meeting the first predetermined condition and the second predetermined condition, if it is, the location point is the location point of the surface of capsule endoscope position, the positioning success to capsule endoscope.The method of institute of the invention is simply easily realized, and testing result accuracy is high, will not be to the harmful side effect of detected person's generation.Improve the working efficiency for searching capsule endoscope.The invention also discloses the methods that capsule endoscope is searched in gastrovascular cavity body, it may have above-mentioned advantageous effect.
Description
Technical field
The present invention relates to the field of medical instrument technology, and capsule endoscope is searched in gastrovascular cavity body more particularly to a kind of
System and method.
Background technology
Capsule endoscope is the disease of digestive tract auxiliary indagation device that a kind of shape is similar to capsule pill.In those who are investigated
After swallowing, position of the capsule endoscope in human body can not be found out.Doctor can only be by checking that current capsule endoscope is shot
Pictorial information the approximate location of capsule endoscope is judged by experience.
The location technology than more conventional capsule endoscope is a kind of location technology based on radio frequency signal at present, profit
The external antenna of employment receives the radiofrequency signal from capsule endoscope, and calculates the position of capsule.But the positioning accurate of the technology
Degree is too low, and need to pass through complicated calculating.X-ray, the positioning of CT and MRT Medical Imaging Technologies may be used in addition, also having, but need
Three-dimensional reconstruction, process is complicated, and accuracy and speed is all limited, also the unsuitable long problem of phototoxis and used time.
Invention content
The system that the object of the present invention is to provide a kind of to search capsule endoscope in gastrovascular cavity body, solves digestion cavity
Interior capsule endoscope location difficulty and the low problem of precision, improve the working efficiency of capsule endoscope positioning.
The method that it is a further object of the present invention to provide a kind of to search capsule endoscope in gastrovascular cavity body.
In order to solve the above technical problems, the present invention provides a kind of system for searching capsule endoscope in gastrovascular cavity body, packet
It includes：
Magnet, driving device, processor, capsule endoscope are provided with permanent magnet, wireless communication in the capsule endoscope
Equipment, 3-axis acceleration sensor and triaxial magnetic field sensor；
Wherein, the processor is connected with the driving device, and is connected by wireless telecommunications with the capsule endoscope
It connects；
The processor drives the magnet in digestion cavity upper horizontal face by pre- for controlling the driving device
Fixed track moves；The data that the wireless telecom equipment is sent are received, the data are that the magnet passes through desired trajectory successively
When upper each precalculated position point, three axis component data of the 3-axis acceleration sensor detection and the triaxial magnetic field sensor
The magnetic field strength date of detection；Judge to whether there is corresponding three axis components data and magnetic field intensity number in the precalculated position point
According to the location point for meeting the first preset condition and the second preset condition, if it is, corresponding three axis components data and magnetic field are strong
It is the capsule for being built-in with permanent magnet that degrees of data, which meets the first preset condition and the precalculated position point of the second preset condition,
The location point of the surface of endoscope position；
Wherein, first preset condition is the space arrow after the corresponding three axis components Vector modulation of the precalculated position point
And size parallel with the magnetizing direction of direction permanent magnet is measured in predetermined threshold range；
Second preset condition is that the corresponding magnetic field intensity of the precalculated position point is that the desired trajectory is each predetermined
Maximum value in the corresponding magnetic field intensity of location point.
Optionally, the processor is specifically used for：
If the precalculated position point for meeting the first preset condition and the second preset condition is not present in the precalculated position point,
Then judge in the precalculated position point with the presence or absence of the precalculated position point for meeting third preset condition；
If it is, resetting predetermined path of movement according to the position of the precalculated position point, and repeat control
Magnet presses the operation of desired trajectory movement in digestion cavity upper horizontal face, meets first until existing on the desired trajectory
The precalculated position point of preset condition and second preset condition；
Wherein, the third preset condition is that the corresponding magnetic field intensity of the precalculated position point is more than default magnetic field intensity threshold
Value.
Optionally, the processor is specifically used for：
In the precalculated position point for meeting third preset condition centered on the corresponding maximum precalculated position point of magnetic field intensity
Detection zone is divided, and sets predetermined path of movement in the detection area.
Optionally, the processor is specifically used for：
If reducing the height of the magnet there is no the precalculated position point for meeting third preset condition on the desired trajectory
Degree repeats and executes the operation that control magnet is moved in digestion cavity upper horizontal face by desired trajectory, until described predetermined
There is while meeting the precalculated position point of the first preset condition and second preset condition in location point.
Optionally, the processor is specifically used for：
If the precalculated position point for meeting the first preset condition and the second preset condition is not present in the precalculated position point,
Then judge, with the presence or absence of multiple adjacent precalculated position points successively on the desired trajectory, to pass through multiple institutes successively in the magnet
When stating precalculated position point, the magnetic field intensity first increases and then decreases of the triaxial magnetic field sensor detection；
If it is, resetting predetermined path of movement according to multiple precalculated position point positions, and repeat to hold
Row control magnet presses the operation of desired trajectory movement in digestion cavity upper horizontal face, exists until in the precalculated position point
Meet the precalculated position point of first preset condition and second preset condition.
Optionally, the photographic device of the capsule endoscope is additionally operable to successively pass through in the magnet each on desired trajectory
When the point of precalculated position, the image in the gastrovascular cavity body of shooting；
The processor is additionally operable to after control magnet is moved in digestion cavity upper horizontal face by desired trajectory, is connect
Receive the image data that the wireless telecommunications system is sent；
If there is no meet the pre- of first preset condition and second preset condition on the precalculated position point
Determine location point, then judge to show the different image of content with the presence or absence of the image adjacent from shooting time in each described image,
If it is, resetting predetermined path of movement according to the position of the corresponding precalculated position point of described image, and repeat control
Magnet processed presses the operation of desired trajectory movement in digestion cavity upper horizontal face, meets the until existing on the desired trajectory
The precalculated position point of one preset condition and second preset condition.
Optionally, the processor is specifically used for：
Control magnet is moved in the desired trajectory, and stops pre- timing at the point of each precalculated position on desired trajectory
It is long.
The method that the present invention also provides a kind of to search capsule endoscope in gastrovascular cavity body, including：
Processor controls the driving device driving magnet and is moved by desired trajectory in digestion cavity upper horizontal face；
The processor receives the data that the wireless telecom equipment is sent, and the data are the magnet positioned at described pre-
On fixed track when each precalculated position point, the 3-axis acceleration sensor and triaxial magnetic field sensor point of corresponding capsule endoscope
The three axis component data and magnetic field strength date not detected；
The processor judges to whether there is corresponding three axis components data and magnetic field intensity number in the precalculated position point
According to the location point for meeting the first preset condition and the second preset condition, if it is, corresponding three axis components data and magnetic field are strong
It is the capsule for being built-in with permanent magnet that degrees of data, which meets the first preset condition and the precalculated position point of the second preset condition,
The location point of the surface of endoscope position；
Wherein, first preset condition is the space arrow after the corresponding three axis components Vector modulation of the precalculated position point
Amount direction is parallel with the magnetizing direction of permanent magnet and size is in predetermined threshold range；
Second preset condition is that the corresponding magnetic field intensity of the precalculated position point is that the desired trajectory is each predetermined
Maximum value in the corresponding magnetic field intensity of location point.
Optionally, the processor judges to whether there is corresponding three axis components data and magnetic field in the precalculated position point
Intensity data meets the first preset condition and the location point of the second preset condition includes：
If the precalculated position point for meeting the first preset condition and the second preset condition is not present in the precalculated position point,
Then judge on the desired trajectory with the presence or absence of the precalculated position point for meeting third preset condition；
If it is, resetting predetermined path of movement according to the position of the precalculated position point, and repeat control
Magnet presses the operation of desired trajectory movement in digestion cavity upper horizontal face, until existing described in satisfaction on the desired trajectory
The precalculated position point of first preset condition and second preset condition；
Wherein, the third preset condition is that the corresponding magnetic field intensity of the precalculated position point is more than default magnetic field intensity threshold
Value.
Optionally, described to judge in the precalculated position point with the presence or absence of the precalculated position Dian Bao for meeting third preset condition
It includes：
If reducing the height of the magnet there is no the precalculated position point for meeting third preset condition on the desired trajectory
Degree repeats and executes the operation that control magnet is moved in digestion cavity upper horizontal face by desired trajectory, until described predetermined
There is while meeting the precalculated position point of the first preset condition and second preset condition in location point.
The system provided by the present invention that capsule endoscope is searched in gastrovascular cavity body, based on existing for controlling capsule
The effect of magnetic field force between the permanent magnet of magnet and capsule endoscope that endoscope moves in gastrovascular cavity body.It is peeped in capsule
3-axis acceleration sensor and triaxial magnetic field sensor are set on mirror, because when capsule endoscope is located at immediately below magnet, by
The effect of permanent magnetism receptor body outer magnet in capsule endoscope can make the magnetizing direction of permanent magnet be in vertical direction.That
Space vector of three axis components that the 3-axis acceleration sensor of capsule endoscope measures at this time after Vector modulation be also
Vertically, it that is to say the magnetizing direction of permanent magnet, and triaxial magnetic field sensor measures capsule endoscope position
Magnetic field intensity is also thus in the present invention on this basis maximum determines specific location of the capsule endoscope in digesting cavity.
Entire search process is simply easily realized, and testing result accuracy is high, will not generate harmful side effect to detected person.Together
When due to its ease for operation, largely improve search capsule endoscope working efficiency, saved job costs.
The method provided by the invention that capsule endoscope is searched in gastrovascular cavity body, it may have above-mentioned advantageous effect.
Description of the drawings
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of the system provided by the invention that capsule endoscope is searched in gastrovascular cavity body；
Fig. 2 is the flow diagram of the method provided in an embodiment of the present invention that capsule endoscope is searched in gastrovascular cavity body；
Fig. 3 is the desired trajectory schematic diagram of middle magnet provided in an embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
As shown in FIG. 1, FIG. 1 is the systems that capsule endoscope is searched in gastrovascular cavity body that the embodiment of the present invention is provided
Structural schematic diagram, which includes：
Magnet 1, driving device 2, processor 3, capsule endoscope 4 are built-in with permanent magnet, channel radio in capsule endoscope 4
Believe equipment, 3-axis acceleration sensor and triaxial magnetic field sensor；
Wherein, processor 3 is connected with driving device 2, and is connected by wireless telecommunications with capsule endoscope 4, please refers to
Fig. 2, processor 3 is for executing following steps：
Step S201：Control magnet presses desired trajectory movement in digestion cavity upper horizontal face.
In actual mechanical process, detection range can be limited according to the general location of digestion cavity, then in the detection model
Enclose the movement locus of interior setting magnet 1.Specifically, Fig. 3 is can refer to, Fig. 3 is the predetermined of middle magnet 1 provided in an embodiment of the present invention
Track schematic diagram establishes a plane coordinate system in Fig. 3 in detection zone, and magnet 1 is made to pass through each position in coordinate system successively
Point, the starting point of predetermined movement track is origin in Fig. 3 coordinate systems, and each end to end arrow is the pre- orbit determination for indicating magnet 1
The trend of mark, magnet 1 search 4 position of capsule endoscope according to desired trajectory.The magnet 1 shown in certain Fig. 3 makes a reservation for
Track is only a kind of specific embodiment in the present invention, and similar embodiment is numerous to list herein.
Step S202：It controls the driving device driving magnet and passes through each precalculated position point on desired trajectory successively.
Step S203：Receive three axis component data and magnetic field strength date that wireless telecommunications system is sent；
The three axis components data are the corresponding three measurements axis of each precalculated position point that 3-axis acceleration sensor obtains
The component data in direction.The magnetic field strength date is that triaxial magnetic field sensor obtains the corresponding magnetic field intensity of each precalculated position point
Data.
Step S204：When there is the location point for meeting the first preset condition and the second preset condition in the point of precalculated position, then
Complete the positioning to capsule endoscope.
It should be noted that 3-axis acceleration sensor and triaxial magnetic field sensor are built in capsule endoscope 4
Portion, and also it is built-in with strip permanent magnet in capsule endoscope 4.The strip permanent magnet being built in capsule endoscope 4 makes capsule
One end is the N magnetic pole other ends to endoscope 4 on the whole is S magnetic poles, then when magnet 1 is and the precalculated position point on desired trajectory
When, if capsule endoscope 4 is located in the magnetic field of magnet 1, the triaxial magnetic field sensor in capsule endoscope 4 can be surveyed at this time
The magnetic field intensity, and magnet 1 and capsule endoscope 4, apart from closer, the magnetic field intensity measured is bigger, therefore can be in magnet 1
Often pass through a precalculated position point, detect Primary field intensity value, obtains magnet 1 and be located at corresponding magnetic field when each location point
Intensity data.
When the distance of magnet 1 and capsule endoscope 4 is closer, the size for the magnetic field intensity that triaxial magnetic field sensor detects
It is bigger, then when magnet 1 is located at the surface of capsule endoscope 4, the magnetic field intensity of triaxial magnetic field sensor detection it is big
Small is exactly the maximum value in the corresponding magnetic field intensity of each location point, therefore can will meet corresponding magnetic field in the point of precalculated position
Intensity is maximum value on desired trajectory in the corresponding magnetic field intensity of each precalculated position point as the first preset condition.
If in view of some precalculated position point be only make peace relative to other precalculated position points capsule endoscope 4 away from
From nearest location point, but it is not on the surface of capsule endoscope 4, which also disclosure satisfy that the first default item
Part.Therefore the first preset condition is judge whether predeterminated position point is that the necessary of location point right over capsule endoscope 4 is not filled
Slitting part.
Testing principle based on 3-axis acceleration sensor, three axis angular rate sensors have three X-axis, Y-axis, Z axis seats
Parameter, and the motion state of object is related with the component in three reference axis.When object is static, 3-axis acceleration sensor is surveyed
After obtaining the component progress Vector modulation in three reference axis, the space vector direction of acquisition and object gravity direction are on the contrary, size
Equal to the acceleration of gravity size of object；When object of which movement 3-axis acceleration sensor measure the component in three reference axis into
After row Vector modulation, after the gravity progress Vector modulation of the product and object of the space vector of acquisition and the quality of object, it is equal to
The size of resultant force suffered by object.It follows that for the object in different motion state, three seats of 3-axis acceleration sensor
After the component measured on parameter carries out Vector modulation, the space vector of acquisition and the product of mass of object are equal to removing suffered by object
The size of resultant force except gravity.
Because permanent magnet in capsule endoscope 4 is acted on by the magnetic field force of the magnet 1 of digestion lumen outer so that permanent magnetism
The magnetizing direction of body is parallel with the magnetic direction of permanent magnet position always.So when the magnet 1 of digestion lumen outer
When the surface of capsule endoscope 4, the magnetizing direction of permanent magnet should be vertical direction.
And for the capsule endoscope 4 to remain static, three axis components that 3-axis acceleration sensor measures pass through
The direction of the space vector obtained after Vector modulation should be vertical direction, and size is approximately equal to the size of acceleration of gravity.
Thus, it is possible in conjunction with 3-axis acceleration sensor measured value and capsule endoscope 4 in permanent magnet the side of magnetizing
To as judge magnet 1 whether be located at capsule endoscope 4 surface the second preset condition, wherein the present invention in default threshold
Value range is to be approximately equal to the threshold range of acceleration of gravity size, why limits in the present invention and is sensed by 3-axis acceleration
The size for the space vector that three axis components that device measures obtain approximately is equal to the size of acceleration of gravity, is in order to avoid capsule
Endoscope 4 is affected by environment to be disturbed, even when 3-axis acceleration sensor carries out DATA REASONING, capsule endoscope
4 are located at immediately below magnet 1, it is also possible to since the movement of capsule endoscope 4 does not stop, capsule endoscope in the follow-up process
4 positions are changed, and measurement result inaccuracy is eventually led to.
It should be noted why not using the second preset condition as judging whether predeterminated position point is capsule endoscope
The adequate condition of location point right over 4 is and the surface of internal chamber wall since it is considered that the environment in digestion inner cavity is complex
It is not plane, it is therefore also possible to when interfered there are certain factors so that magnet 1 reaches some predeterminated position point, is peeped in capsule
Mirror 4 is in upright state, and the precalculated position point is not the location point right over capsule endoscope 4.Therefore the is fully considered
One preset condition and the second preset condition can more accurately position capsule endoscope 4.
It is magnetizing permanent magnet than more conventional set-up mode in addition, for the permanent magnet in capsule endoscope 4
Direction is arranged to the direction with 4 centerline axis parallel of capsule endoscope, in other words, when magnet 1 is being located at capsule endoscope 4 just
When top, capsule endoscope 4 is in vertical direction.But the set-up mode in the present invention to permanent magnet in capsule endoscope 4
It is not limited in the present invention.And the sky obtained after Vector modulation for judging three axis components that 3-axis acceleration sensor measures
Between direction vector whether the mode overlapped with the axis direction of capsule endoscope 4, three axis can be set in capsule endoscope 4 and added
When velocity sensor, make a measurement direction axis of 3-axis acceleration sensor and filling for the permanent magnet in capsule endoscope 4
Magnetic direction is mutually parallel, for example, can set the Z-direction of 3-axis acceleration sensor to put down with the magnetizing direction of permanent magnet
Row, then when the acceleration magnitude in the X-axis and Y direction that 3-axis acceleration sensor measures is zero, and acceleration is big on Z axis
It is small close to acceleration of gravity size, you can think magnetizing for acceleration direction that the 3-axis acceleration sensor measures and permanent magnet
Direction overlaps, and size is close to acceleration of gravity.
Certainly, the three measurement direction axis and permanent magnet for making 3-axis acceleration sensor are also not precluded in the present invention
It magnetizes the case where forming an angle, but this is when judging whether precalculated position point meets the second preset condition, it is necessary to pass through
Complicated angle conversion.Therefore in the present invention, by a measurement direction axis of 3-axis acceleration sensor and filling for permanent magnet
Magnetic direction coincidence is a kind of preferred embodiment.
In addition, as previously mentioned, the magnetizing direction of permanent magnet can be set to putting down with 4 axis of capsule endoscope under normal circumstances
Row, then also further can measure axis by one of 3-axis acceleration sensor is set as the axis with capsule endoscope 4
It is parallel.In the present invention for convenience of explanation, with the magnetizing direction of permanent magnet, 3-axis acceleration in follow-up other embodiment
One of the sensor axis direction three for measuring axis direction and capsule endoscope 4 is mutually parallel to be illustrated.But energy
Enough understand, this is not the essential features for realizing technical solution of the present invention.
For meeting the predeterminated position point of the first preset condition and the second preset condition simultaneously, it is believed that the location point is
Location point positioned at the surface of capsule endoscope 4, then the positioning to capsule endoscope 4 can be completed.
Based on above-described embodiment, in another embodiment of the present invention, the processor 3 specifically can be used for：
If there is no meet the pre- of the first preset condition and the second preset condition in the precalculated position point on desired trajectory
Determine location point, then judges in the point of the precalculated position on desired trajectory with the presence or absence of the precalculated position point for meeting third preset condition；
If it is, resetting predetermined path of movement according to the position for the precalculated position point for meeting third preset condition.
Third preset condition refers to that point corresponding magnetic field intensity in precalculated position is more than default magnetic field intensity threshold value.
There is no to meet simultaneously the pre- of the first preset condition and the second preset condition in precalculated position point on desired guiding trajectory
If when location point, if there is with capsule endoscope 4 apart from closer predeterminated position point, then the corresponding magnetic field of the location point is strong
The opposite meeting bigger of the size of degree, therefore the relatively large predeterminated position point of magnetic field intensity can be filtered out, it is also equivalent to glue
Area reduction where intracapsular sight glass 4 range, can be made with meeting the region where the predeterminated position point of third preset condition
For new detection zone, desired guiding trajectory is planned again, and choosing suitable predeterminated position point, repeated in above-described embodiment
The operation of step S201 to step S204.It should be noted that each predeterminated position point on the desired guiding trajectory planned again it
Between distance should be less than the spacing between each predeterminated position point in step S201 to step S204.
The result of the search capsule endoscope 4 based on above-described embodiment largely reduces capsule in the present embodiment
The search area of endoscope 4 improves work efficiency to accelerate the progress of work of search.
Further, the processor 3 specifically can be used for：
If met in multiple precalculated position points of third preset condition, there are the maximum pre-determined bits of corresponding magnetic field intensity
It sets a little, then the location point that the precalculated position point is nearest apart from capsule endoscope 4 can be determined, therefore is repartitioning detection
When region, detection zone can be divided centered on the location point and set scheduled movement locus.To further reduce inspection
Survey region.Region so around the location point is the region that capsule endoscope 4 is detected for emphasis, can further increase search
The working efficiency of capsule endoscope 4.
Certainly, if there is no the maximum predeterminated position point of corresponding magnetic field intensity, magnetic field intensity can also be found out relatively
Big predeterminated position point, and then mark off the region that capsule endoscope 4 is searched in emphasis detection.
The case where for the precalculated position point for meeting third preset condition is not present in the precalculated position point on desired trajectory,
In another embodiment of the present invention, the processor 3 can be further used for：
If illustrated there is no the precalculated position point for meeting third preset condition in the precalculated position point on desired trajectory
When no matter which predeterminated position point magnet 1 be located at, the magnitude of field intensity that triaxial magnetic field sensor measures is smaller, that is to say table
The distance between bright magnet 1 and capsule endoscope 4 farther out, to influence the positioning to capsule endoscope 4, therefore can reduce magnetic
The height of body 1 repeats the operation for executing the step S201 to step S204 in above-described embodiment.
Based on above-mentioned any embodiment, for there is no meet the first preset condition and the second preset condition on desired trajectory
Precalculated position point the case where, in another specific embodiment of the invention, the processor 3 can be also used for reducing detection zone
Embodiment, may include specifically：
Judge with the presence or absence of multiple adjacent precalculated position points successively in the precalculated position point on desired trajectory, in magnet 1
When passing through multiple precalculated position points successively, the magnetic field intensity first increases and then decreases of triaxial magnetic field sensor detection.It is gradual in magnet 1
When close to capsule endoscope 4, the magnetic field intensity of corresponding triaxial magnetic field sensor detection is also inevitable gradually to be increased, conversely, working as magnetic
When body 1 is gradually distance from capsule endoscope 4, the magnetic field intensity that triaxial magnetic field sensor measures also necessarily is gradually reduced.It therefore can be with
The approximate region of 4 position of capsule endoscope is marked off on this basis as new detection zone, and is reset default
Track and predeterminated position point repeat the step S201 to step S204 executed in above-described embodiment, to find out satisfaction first
The precalculated position of preset condition and the second preset condition point.
Based on above-mentioned any embodiment, it is contemplated that be generally both provided with photographic device, and if magnet in capsule endoscope 4
1 in the regional movement closer apart from capsule endoscope 4, it is more likely that the state of capsule endoscope 4 can be driven to generate certain journey
The variation of degree, then the picture of the photographic device shooting in capsule endoscope 4 also necessarily will produce corresponding variation at this time.For
This, in another embodiment of the present invention, processor 3 can be further used for：
After the operation for executing step S201, when magnet 1 passes through each precalculated position point on desired trajectory successively, glue
Image in the gastrovascular cavity body of the photographic device shooting of intracapsular sight glass 4；
If there is no meet the pre- of the first preset condition and the second preset condition in the precalculated position point on desired trajectory
Determine location point, then judges with the presence or absence of the image that two adjacent picture materials of shooting time are different in each image, if first
The two images content shot afterwards is different, then illustrates that the state under magnetic fields of capsule endoscope 4 changes, then in capsule
The distance between sight glass 4 and magnet 1 also relative close.Therefore then according to the position of the corresponding precalculated position point of the image
New detection zone is repartitioned, to reduce detection range, repeats and executes step S201 in above-described embodiment to step
S204, to find out the precalculated position point for meeting the first preset condition and the second preset condition.
It should be noted that the embodiment for reducing detection zone in the present embodiment can be with each default position of above-mentioned judgement
Size and both embodiments combined use of the size variation trend of magnetic field intensity for setting magnetic field intensity a little, pass through consideration
The factor of various aspects, comprehensive descision go out the approximate location of capsule endoscope 4, can faster determine capsule endoscope 4
Position.
Based on above-mentioned any embodiment, it is contemplated that, may be to capsule endoscope 4 when magnet 1 is close to capsule endoscope 4
State have an impact, making capsule endoscope 4, there are an of short duration leftward or rightward yaw motions, then three axis add at this time
The data that velocity sensor and triaxial magnetic field sensor are detected may be the instantaneous value in a variation, eventually lead to detection
As a result inaccurate, therefore, in another embodiment of the present invention, when processor 3 executes step S201, can specifically it use
In：
It controls magnet 1 to move in desired trajectory, and stops scheduled duration at the point of each precalculated position on desired trajectory, it should
Scheduled duration is without long, as long as capsule endoscope 4 restores to stable stationary state enough, so that 3-axis acceleration passes
Sensor and triaxial magnetic field sensor are able to detect that a stationary value.
The method for searching capsule endoscope in gastrovascular cavity body to provided in an embodiment of the present invention below is introduced, hereafter
The method that capsule endoscope is searched in gastrovascular cavity body of description searches capsule endoscope with above-described in gastrovascular cavity body
System can correspond reference.
A kind of method for searching capsule endoscope in gastrovascular cavity body provided in an embodiment of the present invention, this method include：
Processor controls the driving device driving magnet and is moved by desired trajectory in digestion cavity upper horizontal face；
Processor receives the data that wireless telecom equipment is sent, and data are that magnet is located at each on the desired trajectory make a reservation for
When location point, three axis components that the 3-axis acceleration sensor and triaxial magnetic field sensor of corresponding capsule endoscope detect respectively
Data and magnetic field strength date；
Processor judges to meet the with the presence or absence of corresponding three axis components data and magnetic field strength date in the point of precalculated position
The location point of one preset condition and the second preset condition, if it is, corresponding three axis components data and magnetic field strength date are full
The precalculated position point of the first preset condition of foot and the second preset condition is the capsule endoscope position for being built-in with permanent magnet
The location point of surface；
Wherein, the first preset condition is the space vector side after the corresponding three axis components Vector modulation of the precalculated position point
Magnetizing direction to permanent magnet is parallel and size is in predetermined threshold range；
Second preset condition is that the corresponding magnetic field intensity of the precalculated position point is each precalculated position point pair of desired trajectory
Maximum value in the magnetic field intensity answered.
It should be noted that searching the method for capsule endoscope in gastrovascular cavity body and in gastrovascular cavity body in the present invention
The embodiment for searching the system of capsule endoscope is mutual corresponding, such as the method and step in the present embodiment and above-described embodiment
In processor execute step S201~step S204 be identical.This method is mainly run by processor pre-programmed
Program is completed.Therefore, also have the system for searching capsule endoscope in gastrovascular cavity body can to method in this present embodiment
The advantageous effect of realization, it is no longer repeated herein.
Optionally, processor judges to whether there is corresponding three axis components data and magnetic field intensity in the precalculated position point
Data meet the first preset condition and the location point of the second preset condition includes：
If sentenced there is no the precalculated position point for meeting the first preset condition and the second preset condition in the point of precalculated position
With the presence or absence of the precalculated position point for meeting third preset condition on disconnected desired trajectory；
If it is, resetting predetermined path of movement according to the position of precalculated position point, and repeat control magnet
The operation that desired trajectory movement is pressed in digestion cavity upper horizontal face, until default in the presence of meeting described first on desired trajectory
The precalculated position point of condition and second preset condition；
Wherein, third preset condition is that the corresponding magnetic field intensity of the precalculated position point is more than default magnetic field intensity threshold value.
Optionally, judge that whether there is the precalculated position point for meeting third preset condition in the point of precalculated position includes：
If reducing the height of the magnet there is no the precalculated position point for meeting third preset condition on the desired trajectory
Degree repeats and executes the operation that control magnet is moved in digestion cavity upper horizontal face by desired trajectory, until described predetermined
There is while meeting the precalculated position point of the first preset condition and second preset condition in location point.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with it is other
The difference of embodiment, just to refer each other for same or similar part between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part
Explanation.
The system of capsule endoscope is searched in gastrovascular cavity body and method has carried out in detail to provided by the present invention above
It is thin to introduce.Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its core concept for being merely used to help understand the present invention.It should be pointed out that for the ordinary skill of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for personnel, these improvement
It is also fallen within the protection scope of the claims of the present invention with modification.
Claims (10)
1. a kind of system for searching capsule endoscope in gastrovascular cavity body, which is characterized in that including：
Magnet, driving device, processor, capsule endoscope are provided with permanent magnet in the capsule endoscope, wireless communication is set
Standby, 3-axis acceleration sensor and triaxial magnetic field sensor；
Wherein, the processor is connected with the driving device, and is connected by wireless telecommunications with the capsule endoscope；
The processor drives the magnet in digestion cavity upper horizontal face by pre- orbit determination for controlling the driving device
Mark moves；The data that the wireless telecom equipment is sent are received, the data are that the magnet passes through on desired trajectory respectively successively
When a precalculated position point, three axis component data of the 3-axis acceleration sensor detection and triaxial magnetic field sensor detection
Magnetic field strength date；Judge full with the presence or absence of corresponding three axis components data and magnetic field strength date in the precalculated position point
The location point of foot the first preset condition and the second preset condition, if it is, corresponding three axis components data and magnetic field intensity number
It is to be peeped in the capsule for be built-in with permanent magnet according to the precalculated position point of the first preset condition and the second preset condition is met
The location point of the surface of mirror position；
Wherein, first preset condition is the space vector after the corresponding three axis components Vector modulation of the precalculated position point,
Parallel and size is in predetermined threshold range with the magnetizing direction of direction permanent magnet；
Second preset condition is that the corresponding magnetic field intensity of the precalculated position point is each precalculated position of the desired trajectory
Maximum value in the corresponding magnetic field intensity of point.
2. system according to claim 1, which is characterized in that the processor is specifically used for：
If sentenced there is no the precalculated position point for meeting the first preset condition and the second preset condition in the precalculated position point
With the presence or absence of the precalculated position point for meeting third preset condition in the disconnected precalculated position point；
If it is, resetting predetermined path of movement according to the position of the precalculated position point, and repeat control magnet
The operation that desired trajectory movement is pressed in digestion cavity upper horizontal face, it is default until there is satisfaction first on the desired trajectory
The precalculated position point of condition and second preset condition；
Wherein, the third preset condition is that the corresponding magnetic field intensity of the precalculated position point is more than default magnetic field intensity threshold value.
3. system according to claim 2, which is characterized in that the processor is specifically used for：
It is divided centered on the corresponding maximum precalculated position point of magnetic field intensity in the precalculated position point for meeting third preset condition
Detection zone, and predetermined path of movement is set in the detection area.
4. system according to claim 2, which is characterized in that the processor is specifically used for：
If reducing the height of the magnet there is no the precalculated position point for meeting third preset condition on the desired trajectory,
It repeats and executes the operation that control magnet is moved in digestion cavity upper horizontal face by desired trajectory, until the precalculated position
There is while meeting the precalculated position point of the first preset condition and second preset condition in point.
5. system according to claim 1, which is characterized in that the processor is specifically used for：
If sentenced there is no the precalculated position point for meeting the first preset condition and the second preset condition in the precalculated position point
Break on the desired trajectory with the presence or absence of multiple adjacent precalculated position points successively, passes through successively in the magnet multiple described pre-
When determining location point, the magnetic field intensity first increases and then decreases of the triaxial magnetic field sensor detection；
If it is, resetting predetermined path of movement according to multiple precalculated position point positions, and repeat control
Magnet processed presses the operation of desired trajectory movement in digestion cavity upper horizontal face, meets until existing in the precalculated position point
The precalculated position point of first preset condition and second preset condition.
6. system according to claim 1, which is characterized in that the photographic device of the capsule endoscope is additionally operable to described
When magnet passes through each precalculated position point on desired trajectory successively, the image in the gastrovascular cavity body of shooting；
The processor is additionally operable to after control magnet is moved in digestion cavity upper horizontal face by desired trajectory, receives institute
State the image data of wireless telecommunications system transmission；
If there is no the pre-determined bits for meeting first preset condition and second preset condition on the precalculated position point
It sets a little, then judges with the presence or absence of the image that the image display content adjacent from shooting time is different in each described image, if
It is predetermined path of movement then to be reset according to the position of the corresponding precalculated position point of described image, and repeat control magnetic
Body presses the operation of desired trajectory movement in digestion cavity upper horizontal face, meets first in advance until existing on the desired trajectory
If the precalculated position point of condition and second preset condition.
7. system according to any one of claims 1 to 6, which is characterized in that the processor is specifically used for：
Control magnet is moved in the desired trajectory, and stops scheduled duration at the point of each precalculated position on desired trajectory.
8. a kind of method for searching capsule endoscope in gastrovascular cavity body, which is characterized in that including：
Processor controls the driving device driving magnet and is moved by desired trajectory in digestion cavity upper horizontal face；
The processor receives the data that the wireless telecom equipment is sent, and the data are that the magnet is located at the pre- orbit determination
On mark when each precalculated position point, the 3-axis acceleration sensor and triaxial magnetic field sensor of corresponding capsule endoscope are examined respectively
The three axis component data and magnetic field strength date surveyed；
The processor judges full with the presence or absence of corresponding three axis components data and magnetic field strength date in the precalculated position point
The location point of foot the first preset condition and the second preset condition, if it is, corresponding three axis components data and magnetic field intensity number
It is to be peeped in the capsule for be built-in with permanent magnet according to the precalculated position point of the first preset condition and the second preset condition is met
The location point of the surface of mirror position；
Wherein, first preset condition is the space vector side after the corresponding three axis components Vector modulation of the precalculated position point
To the parallel and size with the magnetizing direction of permanent magnet in predetermined threshold range；
Second preset condition is that the corresponding magnetic field intensity of the precalculated position point is each precalculated position of the desired trajectory
Maximum value in the corresponding magnetic field intensity of point.
9. according to the method described in claim 8, it is characterized in that, the processor judges whether deposited in the precalculated position point
Include in corresponding three axis components data and the location point of magnetic field strength date the first preset condition of satisfaction and the second preset condition：
If sentenced there is no the precalculated position point for meeting the first preset condition and the second preset condition in the precalculated position point
With the presence or absence of the precalculated position point for meeting third preset condition on the disconnected desired trajectory；
If it is, resetting predetermined path of movement according to the position of the precalculated position point, and repeat control magnet
The operation that desired trajectory movement is pressed in digestion cavity upper horizontal face meets described first until existing on the desired trajectory
The precalculated position point of preset condition and second preset condition；
Wherein, the third preset condition is that the corresponding magnetic field intensity of the precalculated position point is more than default magnetic field intensity threshold value.
10. according to the method described in claim 9, it is characterized in that, described judge in the precalculated position point with the presence or absence of full
The precalculated position point of sufficient third preset condition includes：
If reducing the height of the magnet there is no the precalculated position point for meeting third preset condition on the desired trajectory,
It repeats and executes the operation that control magnet is moved in digestion cavity upper horizontal face by desired trajectory, until the precalculated position
There is while meeting the precalculated position point of the first preset condition and second preset condition in point.
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| CN201810083630.8A CN108451490B (en) | 2018-01-29 | 2018-01-29 | System and method for searching capsule endoscope in digestive cavity |
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| CN201810083630.8A CN108451490B (en) | 2018-01-29 | 2018-01-29 | System and method for searching capsule endoscope in digestive cavity |
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