CN108451490B - System and method for searching capsule endoscope in digestive cavity - Google Patents
System and method for searching capsule endoscope in digestive cavity Download PDFInfo
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- CN108451490B CN108451490B CN201810083630.8A CN201810083630A CN108451490B CN 108451490 B CN108451490 B CN 108451490B CN 201810083630 A CN201810083630 A CN 201810083630A CN 108451490 B CN108451490 B CN 108451490B
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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
Abstract
The invention discloses a system for searching a capsule endoscope in a digestive cavity, which comprises: the capsule endoscope is provided with a permanent magnet, wireless communication equipment, a three-axis acceleration sensor and a three-axis magnetic field sensor; the processor is used for controlling the magnet to move in a horizontal plane above the digestion cavity according to a preset track; and judging whether a position point meeting a first preset condition and a second preset condition exists according to the measured values of the three-axis acceleration sensor and the three-axis magnetic field sensor, if so, determining that the position point is a position point right above the position of the capsule endoscope, and successfully positioning the capsule endoscope. The method is simple and easy to realize, has high detection result accuracy, and does not produce harmful side effects on a detected person. The work efficiency of searching the capsule endoscope is improved. The invention also discloses a method for searching the capsule endoscope in the digestive cavity, and the method also has the beneficial effects.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a system and a method for searching a capsule endoscope in a digestive tract cavity.
Background
The capsule endoscope is an auxiliary diagnosis device for digestive tract diseases, which is similar to capsule pills in shape. After swallowed by the subject, the position of the capsule endoscope within the human body cannot be ascertained. The doctor can only determine the approximate position of the capsule endoscope empirically by looking at the current picture information taken by the capsule endoscope.
At present, the conventional capsule endoscope positioning technology is a positioning technology based on wireless radio frequency signals, and radio frequency signals from the capsule endoscope are received by using an antenna outside a human body, and the position of a capsule is calculated. However, the positioning accuracy of this technique is too low and requires complicated calculations. In addition, the X-ray, CT and MRT medical imaging technologies can be adopted for positioning, but a three-dimensional reconstruction technology is needed, the process is complex, the precision and the speed are limited, and the problems of ray damage and short time consumption are solved.
Disclosure of Invention
The invention aims to provide a system for searching a capsule endoscope in a digestive tract, which solves the problems of difficult positioning and low precision of the capsule endoscope in the digestive tract and improves the working efficiency of positioning the capsule endoscope.
It is another object of the present invention to provide a method of searching for a capsule endoscope within a digestive lumen.
In order to solve the above technical problem, the present invention provides a system for searching a capsule endoscope in a digestive tract, comprising:
the capsule endoscope is provided with a permanent magnet, wireless communication equipment, a three-axis acceleration sensor and a three-axis magnetic field sensor;
wherein the processor is connected with the driving device and the capsule endoscope through wireless communication;
the processor is used for controlling the driving device to drive the magnet to move according to a preset track in a horizontal plane above the digestion cavity; receiving data sent by the wireless communication equipment, wherein the data are three-axis component data detected by the three-axis acceleration sensor and magnetic field intensity data detected by the three-axis magnetic field sensor when the magnet sequentially passes through each preset position point on a preset track; judging whether position points with corresponding triaxial component data and magnetic field intensity data meeting first preset conditions and second preset conditions exist in the preset position points, if so, the preset position points with the corresponding triaxial component data and magnetic field intensity data meeting the first preset conditions and the second preset conditions are position points right above the position of the capsule endoscope with the built-in permanent magnet;
the first preset condition is that the magnetic field intensity corresponding to the preset position point is the maximum value of the magnetic field intensity corresponding to each preset position point of the preset track;
the second preset condition is that the direction of the space vector synthesized by the three-axis component vector corresponding to the preset position point is parallel to the magnetizing direction of the permanent magnet, and the size of the space vector is within a preset threshold range.
Optionally, the processor is specifically configured to:
if the preset position points which meet the first preset condition and the second preset condition do not exist in the preset position points, judging whether preset position points which meet a third preset condition exist in the preset position points or not;
if so, resetting a preset motion track according to the position of the preset position point, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position point meeting a first preset condition and a second preset condition exists on the preset track;
and the third preset condition is that the magnetic field intensity corresponding to the preset position point is greater than a preset magnetic field intensity threshold value.
Optionally, the processor is specifically configured to:
and dividing a detection area by taking the corresponding preset position point with the maximum magnetic field intensity in the preset position points meeting the third preset condition as a center, and setting a preset motion track in the detection area.
Optionally, the processor is specifically configured to:
and if the preset position points meeting a third preset condition do not exist on the preset track, reducing the height of the magnet, and then repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points simultaneously meeting the first preset condition and the second preset condition exist.
Optionally, the processor is specifically configured to:
if the preset position points which meet a first preset condition and a second preset condition do not exist in the preset position points, judging whether a plurality of sequentially adjacent preset position points exist on the preset track, and when the magnet sequentially passes through the plurality of preset position points, the magnetic field intensity detected by the triaxial magnetic field sensor is increased and then reduced;
if so, resetting a preset motion track according to the positions of the preset position points, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position points meeting the first preset condition and the second preset condition exist.
Optionally, the camera device of the capsule endoscope is further configured to shoot an image in the digestive tract when the magnet sequentially passes through each predetermined position point on the predetermined trajectory;
the processor is also used for receiving the image data sent by the wireless communication equipment after controlling the magnet to move in a horizontal plane above the digestion cavity according to a preset track;
if the preset position points meeting the first preset condition and the second preset condition do not exist on the preset position points, judging whether images with different image display contents adjacent to the shooting time exist in each image or not, if so, resetting a preset motion track according to the position of the preset position point corresponding to the image, and repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points meeting the first preset condition and the second preset condition exist on the preset track.
Optionally, the processor is specifically configured to:
and controlling the magnet to move on the preset track and stay at each preset position on the preset track for a preset time.
The invention also provides a method for searching the capsule endoscope in the digestive cavity, which comprises the following steps:
the processor controls the driving device to drive the magnet to move in a horizontal plane above the digestion cavity according to a preset track;
the processor receives data sent by the wireless communication equipment, wherein the data are triaxial component data and magnetic field intensity data respectively detected by a triaxial acceleration sensor and a triaxial magnetic field sensor of the corresponding capsule endoscope when the magnet is positioned at each preset position point on the preset track;
the processor judges whether a position point at which the corresponding triaxial component data and magnetic field strength data meet a first preset condition and a second preset condition exists in the preset position point, if so, the corresponding preset position point at which the triaxial component data and magnetic field strength data meet the first preset condition and the second preset condition is a position point right above the position of the capsule endoscope with the built-in permanent magnet;
the first preset condition is that the space vector direction after the three-axis component vector synthesis corresponding to the preset position point is parallel to the magnetizing direction of the permanent magnet and the size of the space vector direction is within a preset threshold range;
the second preset condition is that the magnetic field intensity corresponding to the preset position point is the maximum value of the magnetic field intensities corresponding to the preset position points of the preset track.
Optionally, the determining, by the processor, whether there is a position point in the predetermined position point where the corresponding triaxial component data and the corresponding magnetic field strength data satisfy a first preset condition and a second preset condition includes:
if the preset position points which meet the first preset condition and the second preset condition do not exist in the preset position points, judging whether preset position points which meet a third preset condition exist on the preset track or not;
if so, resetting a preset motion track according to the position of the preset position point, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position point meeting the first preset condition and the second preset condition exists on the preset track;
and the third preset condition is that the magnetic field intensity corresponding to the preset position point is greater than a preset magnetic field intensity threshold value.
Optionally, the determining whether there is a predetermined location point that satisfies a third preset condition in the predetermined location points includes:
and if the preset position points meeting a third preset condition do not exist on the preset track, reducing the height of the magnet, and then repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points simultaneously meeting the first preset condition and the second preset condition exist.
The system for searching the capsule endoscope in the digestive cavity is based on the action of the magnetic force between the magnet for controlling the capsule endoscope to move in the digestive cavity and the permanent magnet of the capsule endoscope. The capsule endoscope is provided with the triaxial acceleration sensor and the triaxial magnetic field sensor, and when the capsule endoscope is positioned right below the magnet, the magnetizing direction of the permanent magnet can be in the vertical direction due to the effect of the permanent magnet in the capsule endoscope and the external magnet. Then, the space vector of the three-axis component measured by the three-axis acceleration sensor of the capsule endoscope after vector synthesis is also along the vertical direction, namely the magnetizing direction of the permanent magnet, and the magnetic field intensity of the position of the capsule endoscope measured by the three-axis magnetic field sensor is also the maximum, so that the specific position of the capsule endoscope in the digestive cavity is determined according to the space vector. The whole searching process is simple and easy to realize, the accuracy of the detection result is high, and the harmful side effect on the detected person can not be generated. Meanwhile, due to the easy operability, the working efficiency of searching the capsule endoscope is improved to a great extent, and the working cost is saved.
The method for searching the capsule endoscope in the digestive cavity provided by the invention also has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a system for searching for a capsule endoscope in a digestive tract according to the present invention;
FIG. 2 is a schematic flow chart of a method for searching for a capsule endoscope in a digestive lumen according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a predetermined track of a middle magnet according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a system for searching for a capsule endoscope in a digestive tract, according to an embodiment of the present invention, the system includes:
the capsule endoscope comprises a magnet 1, a driving device 2, a processor 3 and a capsule endoscope 4, wherein a permanent magnet, wireless communication equipment, a three-axis acceleration sensor and a three-axis magnetic field sensor are arranged in the capsule endoscope 4;
wherein the processor 3 is connected with the driving device 2 and is connected with the capsule endoscope 4 through wireless communication, please refer to fig. 2, the processor 3 is used for executing the following steps:
step S201: the magnet is controlled to move according to a preset track in the horizontal plane above the digestion cavity.
In actual operation, a detection range can be defined according to the general position of the digestion cavity, and then the motion track of the magnet 1 is set in the detection range. Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a predetermined track of the middle magnet 1 according to an embodiment of the present invention, in fig. 3, a planar coordinate system is established in the detection area, so that the magnet 1 sequentially passes through each position point in the coordinate system, the starting point of the predetermined motion track in the coordinate system of fig. 3 is the origin, each end-to-end arrow represents the trend of the predetermined track of the magnet 1, and the magnet 1 searches for the position of the capsule endoscope 4 according to the predetermined track. Of course, the predetermined trajectory of the magnet 1 shown in fig. 3 is only one specific example of the present invention, and similar embodiments are not listed here.
Step S202: the control driving device drives the magnet to sequentially pass through each preset position point on the preset track.
Step S203: receiving triaxial component data and magnetic field intensity data sent by wireless communication equipment;
the three-axis component data is component data in the directions of three measuring axes corresponding to each preset position point acquired by the three-axis acceleration sensor. The magnetic field intensity data is obtained by the triaxial magnetic field sensor, and the magnetic field intensity data corresponding to each preset position point is obtained.
Step S204: and when the position points meeting the first preset condition and the second preset condition exist in the preset position points, the capsule endoscope is positioned.
Both the three-axis acceleration sensor and the three-axis magnetic field sensor are built in the capsule endoscope 4, and the capsule endoscope 4 further has a bar-shaped permanent magnet built therein. The strip-shaped permanent magnet built in the capsule endoscope 4 enables one end of the capsule endoscope 4 to be an N magnetic pole and the other end to be an S magnetic pole, when the magnet 1 is at a preset position point on a preset track, if the capsule endoscope 4 is located in the magnetic field of the magnet 1, the three-axis magnetic field sensor in the capsule endoscope 4 can measure the magnetic field intensity, and the closer the magnet 1 and the capsule endoscope 4 are, the larger the measured magnetic field intensity is, so that the magnetic field intensity value can be detected once when the magnet 1 passes through each preset position point, and the corresponding magnetic field intensity data when the magnet 1 is located at each position point can be obtained.
When the distance between the magnet 1 and the capsule endoscope 4 is shorter, the magnitude of the magnetic field intensity detected by the triaxial magnetic field sensor is larger, and when the magnet 1 is positioned right above the capsule endoscope 4, the magnitude of the magnetic field intensity detected by the triaxial magnetic field sensor is the maximum value of the magnetic field intensity corresponding to each position point, so that the maximum value of the magnetic field intensity corresponding to each position point on the preset track, which is satisfied in the preset position point, can be used as a first preset condition.
It is considered that the preset position point can also satisfy the first preset condition if the certain predetermined position point is only a position point which is closest to the capsule endoscope 4 with respect to other predetermined position points, but is not located directly above the capsule endoscope 4. The first preset condition is therefore a necessary and insufficient condition to determine whether or not the preset position point is a position point directly above the capsule endoscope 4.
Based on the detection principle of a three-axis acceleration sensor, the three-axis angular velocity sensor has three coordinate axes of an X axis, a Y axis and a Z axis, and the motion state of an object is related to components on the three coordinate axes. When the object is static, the three-axis acceleration sensor measures components on three coordinate axes and carries out vector synthesis, the direction of the obtained space vector is opposite to the gravity direction of the object, and the magnitude of the obtained space vector is equal to the magnitude of the gravity acceleration of the object; when the object moves, the components on three coordinate axes measured by the triaxial acceleration sensor are subjected to vector synthesis, and the obtained product of the space vector and the mass of the object is subjected to vector synthesis with the gravity of the object, and the vector synthesis is equal to the magnitude of resultant force borne by the object. Therefore, for the objects in different motion states, after vector synthesis is carried out on the components measured on three coordinate axes of the three-axis acceleration sensor, the product of the obtained space vector and the mass of the object is equal to the magnitude of the resultant force of the object except the gravity.
Because the permanent magnet in the capsule endoscope 4 is acted by the magnetic force of the magnet 1 outside the digestive lumen, the magnetizing direction of the permanent magnet is always parallel to the magnetic field direction of the position of the permanent magnet. Then the direction of magnetization of the permanent magnet should be vertical when the magnet 1 outside the digestive lumen is located directly above the capsule endoscope 4.
For the capsule endoscope 4 in a static state, the direction of the space vector obtained by vector synthesis of the three-axis components measured by the three-axis acceleration sensor should be the vertical direction, and the magnitude of the space vector is approximately equal to the magnitude of the gravity acceleration.
Therefore, the measurement value of the triaxial acceleration sensor and the magnetizing direction of the permanent magnet in the capsule endoscope 4 can be combined to serve as a second preset condition for judging whether the magnet 1 is positioned right above the capsule endoscope 4, wherein the preset threshold range in the invention is a threshold range approximately equal to the gravity acceleration, the size of a space vector obtained by a triaxial component measured by the triaxial acceleration sensor is limited to be approximately equal to the gravity acceleration, so as to avoid disturbance of the capsule endoscope 4 due to environmental influence, even if the capsule endoscope 4 is positioned right below the magnet 1 when the triaxial acceleration sensor performs data measurement, the position of the capsule endoscope 4 is changed in the subsequent process due to the fact that the movement of the capsule endoscope 4 is not stopped, and finally the measurement result is inaccurate.
It should be noted that the second preset condition is not taken as a sufficient condition for judging whether the preset position point is a position point directly above the capsule endoscope 4 because it is considered that the environment in the digestive lumen is complicated and the surface of the lumen wall is not a plane, and therefore, there may be some factors that interfere with the magnet 1 reaching a certain preset position point, at which the capsule endoscope 4 is in an upright state, which is not a position point directly above the capsule endoscope 4. Therefore, the capsule endoscope 4 can be positioned more accurately by fully considering the first preset condition and the second preset condition.
In addition, as for the permanent magnet in the capsule endoscope 4, it is relatively conventional to set the magnetizing direction of the permanent magnet to a direction parallel to the central axis of the capsule endoscope 4, that is, when the magnet 1 is positioned directly above the capsule endoscope 4, the capsule endoscope 4 is in a vertical direction. However, the arrangement of the permanent magnet in the capsule endoscope 4 is not limited in the present invention. For the way of judging whether the space vector direction obtained by vector synthesis of the three-axis component measured by the three-axis acceleration sensor coincides with the axis direction of the capsule endoscope 4, when the three-axis acceleration sensor is arranged in the capsule endoscope 4, one measuring direction axis of the three-axis acceleration sensor is parallel to the magnetizing direction of the permanent magnet in the capsule endoscope 4, for example, the Z-axis direction of the three-axis acceleration sensor can be set to be parallel to the magnetizing direction of the permanent magnet, so that when the acceleration in the X-axis and Y-axis directions measured by the three-axis acceleration sensor is zero, and the acceleration in the Z-axis is close to the gravity acceleration, the acceleration direction measured by the three-axis acceleration sensor coincides with the magnetizing direction of the permanent magnet, and the acceleration is close to the gravity acceleration.
Of course, the invention does not exclude the case that the three axes of the three measuring directions of the three-axis acceleration sensor and the magnetization of the permanent magnet form a certain included angle, but when judging whether the predetermined position point meets the second preset condition, the invention needs to be subjected to complicated angle conversion. Therefore, in the present invention, it is a preferable embodiment to overlap one measuring direction axis of the triaxial acceleration sensor and the magnetizing direction of the permanent magnet.
In addition, as described above, the direction of magnetization of the permanent magnet is generally set to be parallel to the axis of the capsule endoscope 4, and then one measurement axis of the three-axis acceleration sensor may be further set to be parallel to the axis of the capsule endoscope 4. For convenience of explanation in the present invention, in other embodiments, the magnetizing direction of the permanent magnet, the direction of one measuring axis of the three-axis acceleration sensor, and the direction of the axis of the capsule endoscope 4 are all parallel to each other. It will be understood, however, that this is not an essential feature for implementing the solution according to the invention.
For a preset position point satisfying both the first preset condition and the second preset condition, the position point may be considered as a position point located directly above the capsule endoscope 4, and then the positioning of the capsule endoscope 4 may be completed.
Based on the foregoing embodiment, in another specific embodiment of the present invention, the processor 3 may specifically be configured to:
if the preset position points meeting the first preset condition and the second preset condition do not exist in the preset position points on the preset track, judging whether the preset position points meeting the third preset condition exist in the preset position points on the preset track or not; if yes, resetting the preset motion track according to the position of the preset position point meeting a third preset condition.
The third preset condition is that the magnetic field intensity corresponding to the preset position point is larger than a preset magnetic field intensity threshold value.
When there is no preset position point meeting the first preset condition and the second preset condition at the same time in the preset position points on the preset track, if there is a preset position point close to the capsule endoscope 4, the magnitude of the magnetic field intensity corresponding to the position point is relatively larger, so that the preset position point with relatively larger magnetic field intensity can be screened out, that is, the range of the area where the capsule endoscope 4 is located is reduced, the area where the preset position point meeting the third preset condition is located can be used as a new detection area, the preset track is re-planned, and the operation from step S201 to step S204 in the above embodiment is repeated after selecting the appropriate preset position point. It should be noted that the distance between the preset position points on the re-planned preset trajectory should be smaller than the distance between the preset position points in steps S201 to S204.
In the embodiment, the result of searching for the capsule endoscope 4 based on the above embodiment greatly reduces the search range of the capsule endoscope 4, thereby speeding up the search process and improving the work efficiency.
Further, the processor 3 may be specifically configured to:
if there is a predetermined position point where the corresponding magnetic field strength is the largest among the plurality of predetermined position points satisfying the third preset condition, it may be determined that the predetermined position point is the closest position point to the capsule endoscope 4, and thus when the detection area is newly divided, the detection area may be divided centering on the position point and a predetermined motion trajectory may be set. Thereby further reducing the detection area. Then the area around the position point is the area for detecting the capsule endoscope 4, which can further improve the work efficiency of searching the capsule endoscope 4.
Of course, if there is no preset position point corresponding to the maximum magnetic field strength, a preset position point with a relatively large magnetic field strength can be found out, and then an area for searching the capsule endoscope 4 by key detection is divided.
For the case that there is no predetermined position point satisfying the third preset condition among the predetermined position points on the predetermined trajectory, in another specific embodiment of the present invention, the processor 3 may be further configured to:
if there is no predetermined position point satisfying the third predetermined condition among the predetermined position points on the predetermined trajectory, it indicates that the magnitude of the magnetic field measured by the three-axis magnetic field sensor is small no matter which predetermined position point the magnet 1 is located at, that is, it indicates that the distance between the magnet 1 and the capsule endoscope 4 is long, thereby affecting the positioning of the capsule endoscope 4, so that the height of the magnet 1 can be reduced, and the operations of steps S201 to S204 in the above embodiment are repeatedly performed.
Based on any of the above embodiments, for a case where there is no predetermined location point on the predetermined track that satisfies the first preset condition and the second preset condition, in another specific embodiment of the present invention, the processor 3 may be further configured to reduce the detection area, and specifically may include:
and judging whether a plurality of sequentially adjacent preset position points exist in the preset position points on the preset track, wherein when the magnet 1 sequentially passes through the plurality of preset position points, the magnetic field intensity detected by the triaxial magnetic field sensor is increased and then reduced. When the magnet 1 gradually approaches the capsule endoscope 4, the magnetic field intensity detected by the corresponding triaxial magnetic field sensor is also inevitably and gradually increased, and conversely, when the magnet 1 gradually leaves the capsule endoscope 4, the magnetic field intensity detected by the triaxial magnetic field sensor is also inevitably and gradually decreased. Therefore, it is possible to divide the approximate region of the position of the capsule endoscope 4 as a new detection region, and to reset the preset trajectory and the preset position points, and to repeatedly execute steps S201 to S204 in the above embodiment, so as to find the predetermined position points satisfying the first preset condition and the second preset condition.
Based on any of the above embodiments, it is considered that the capsule endoscope 4 is generally provided with an image pickup device, and if the magnet 1 moves in a region close to the capsule endoscope 4, it is likely to bring the state of the capsule endoscope 4 to a certain degree of change, and then the picture taken by the image pickup device in the capsule endoscope 4 will inevitably change accordingly. To this end, in another specific embodiment of the present invention, the processor 3 may be further configured to:
after the operation of step S201 is performed, the image within the digestive tract captured by the imaging device of the capsule endoscope 4 while the magnet 1 sequentially passes through the respective predetermined position points on the predetermined trajectory;
if the preset position points meeting the first preset condition and the second preset condition do not exist in the preset position points on the preset track, whether two images with different shooting time adjacent to each other exist in each image or not is judged, if the two images shot successively have different contents, the state of the capsule endoscope 4 is changed under the action of a magnetic field, and the distance between the capsule endoscope 4 and the magnet 1 is relatively short. Therefore, a new detection area can be re-divided according to the position of the predetermined position point corresponding to the image to reduce the detection range, and then steps S201 to S204 in the above embodiment are repeatedly performed to find the predetermined position point satisfying the first preset condition and the second preset condition.
In the present embodiment, the embodiment of narrowing the detection area may be used in combination with the above-described two embodiments of determining the magnitude of the magnetic field strength and the magnitude change tendency of the magnetic field strength at each preset position point, and the approximate position of the capsule endoscope 4 may be determined comprehensively by considering various factors, so that the capsule endoscope 4 can be positioned more quickly.
Based on any of the above embodiments, considering that when the magnet 1 approaches the capsule endoscope 4, there may be an effect on the state of the capsule endoscope 4, such that there is a transient leftward or rightward deflecting motion of the capsule endoscope 4, the data detected by the three-axis acceleration sensor and the three-axis magnetic field sensor may be a transient value in a change, which may eventually result in an inaccurate detection result, and therefore, in another specific embodiment of the present invention, the processor 3 may specifically be configured to, when performing step S201:
the control magnet 1 moves on a predetermined trajectory and stays at each predetermined position on the predetermined trajectory for a predetermined period of time, which is not excessively long, as long as it is enough for the capsule endoscope 4 to return to a stable stationary state, so that the three-axis acceleration sensor and the three-axis magnetic field sensor can detect a stable value.
In the following, the method for searching for a capsule endoscope in a digestive tract according to the embodiments of the present invention is described, and the method for searching for a capsule endoscope in a digestive tract described below and the system for searching for a capsule endoscope in a digestive tract described above may be referred to correspondingly.
The embodiment of the invention provides a method for searching a capsule endoscope in a digestive cavity, which comprises the following steps:
the processor controls the driving device to drive the magnet to move in a horizontal plane above the digestion cavity according to a preset track;
the processor receives data sent by the wireless communication equipment, wherein the data are triaxial component data and magnetic field intensity data respectively detected by a triaxial acceleration sensor and a triaxial magnetic field sensor of a corresponding capsule endoscope when the magnet is positioned at each preset position point on the preset track;
the processor judges whether a position point at which the corresponding triaxial component data and magnetic field strength data meet a first preset condition and a second preset condition exists in the preset position point, if so, the corresponding preset position point at which the triaxial component data and magnetic field strength data meet the first preset condition and the second preset condition is a position point right above the position of the capsule endoscope with the built-in permanent magnet;
the first preset condition is that the magnetizing directions of the space vector direction permanent magnets after the three-axis component vectors corresponding to the preset position are synthesized are parallel and the size of the space vector direction permanent magnets is within a preset threshold range;
the second preset condition is that the magnetic field intensity corresponding to the preset position point is the maximum value of the magnetic field intensities corresponding to the preset position points of the preset track.
It should be noted that the embodiments of the method for searching for a capsule endoscope in a digestive cavity and the system for searching for a capsule endoscope in a digestive cavity in the present invention are corresponding to each other, for example, the steps of the method in the present embodiment are the same as the steps S201 to S204 executed by the processor in the above embodiments. The method is mainly completed by running a pre-programmed program by a processor. Therefore, the method in this embodiment also has the beneficial effect that the system for searching the capsule endoscope in the digestive tract can achieve, and the detailed description is not repeated here.
Optionally, the determining, by the processor, whether there is a position point in the predetermined position point where the corresponding triaxial component data and the corresponding magnetic field strength data satisfy a first preset condition and a second preset condition includes:
if the preset position points which meet the first preset condition and the second preset condition do not exist in the preset position points, judging whether preset position points which meet the third preset condition exist on the preset track or not;
if so, resetting a preset motion track according to the position of the preset position point, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position point meeting the first preset condition and the second preset condition exists on the preset track;
and the third preset condition is that the magnetic field intensity corresponding to the preset position point is greater than a preset magnetic field intensity threshold value.
Optionally, the determining whether there is a predetermined location point meeting a third preset condition in the predetermined location points includes:
and if the preset position points meeting a third preset condition do not exist on the preset track, reducing the height of the magnet, and then repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points simultaneously meeting the first preset condition and the second preset condition exist.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The system and method for searching for a capsule endoscope in a digestive tract cavity provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A system for searching for a capsule endoscope within a digestive lumen, comprising:
the capsule endoscope is provided with a permanent magnet, wireless communication equipment, a three-axis acceleration sensor and a three-axis magnetic field sensor;
wherein the processor is connected with the driving device and the capsule endoscope through wireless communication;
the processor is used for controlling the driving device to drive the magnet to move according to a preset track in a horizontal plane above the digestion cavity; receiving data sent by the wireless communication equipment, wherein the data are three-axis component data detected by the three-axis acceleration sensor and magnetic field intensity data detected by the three-axis magnetic field sensor when the magnet sequentially passes through each preset position point on a preset track; judging whether position points with corresponding triaxial component data and magnetic field intensity data meeting first preset conditions and second preset conditions exist in the preset position points, if so, the preset position points with the corresponding triaxial component data and magnetic field intensity data meeting the first preset conditions and the second preset conditions are position points right above the position of the capsule endoscope with the built-in permanent magnet;
the first preset condition is that the magnetic field intensity corresponding to the preset position point is the maximum value of the magnetic field intensity corresponding to each preset position point of the preset track;
the second preset condition is that the direction of the space vector synthesized by the three-axis component vector corresponding to the preset position point is parallel to the magnetizing direction of the permanent magnet and the size of the space vector is within a preset threshold range;
the camera device of the capsule endoscope is also used for shooting images in the digestive tract when the magnet sequentially passes through each preset position point on the preset track;
the processor is also used for receiving the image data sent by the wireless communication equipment after controlling the magnet to move in a horizontal plane above the digestion cavity according to a preset track;
if the preset position points meeting the first preset condition and the second preset condition do not exist on the preset position points, judging whether images with different image display contents adjacent to the shooting time exist in each image or not, if so, resetting a preset motion track according to the position of the preset position point corresponding to the image, and repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points meeting the first preset condition and the second preset condition exist on the preset track.
2. The system of claim 1, wherein the processor is specifically configured to:
if the preset position points which meet the first preset condition and the second preset condition do not exist in the preset position points, judging whether preset position points which meet a third preset condition exist in the preset position points or not;
if so, resetting a preset motion track according to the position of the preset position point, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position point meeting a first preset condition and a second preset condition exists on the preset track;
and the third preset condition is that the magnetic field intensity corresponding to the preset position point is greater than a preset magnetic field intensity threshold value.
3. The system of claim 2, wherein the processor is specifically configured to:
and dividing a detection area by taking the corresponding preset position point with the maximum magnetic field intensity in the preset position points meeting the third preset condition as a center, and setting a preset motion track in the detection area.
4. The system of claim 2, wherein the processor is specifically configured to:
and if the preset position points meeting a third preset condition do not exist on the preset track, reducing the height of the magnet, and then repeatedly executing the operation of controlling the magnet to move along the preset track in the horizontal plane above the digestion cavity until the preset position points simultaneously meeting the first preset condition and the second preset condition exist.
5. The system of claim 1, wherein the processor is specifically configured to:
if the preset position points which meet a first preset condition and a second preset condition do not exist in the preset position points, judging whether a plurality of sequentially adjacent preset position points exist on the preset track, and when the magnet passes through the plurality of sequentially adjacent preset position points, the magnetic field intensity detected by the triaxial magnetic field sensor is increased firstly and then reduced;
if so, resetting the preset motion track according to the positions of the plurality of sequentially adjacent preset position points, and repeatedly executing the operation of controlling the magnet to move according to the preset track in the horizontal plane above the digestion cavity until the preset position points meeting the first preset condition and the second preset condition exist.
6. The system of any one of claims 1 to 5, wherein the processor is specifically configured to:
and controlling the magnet to move on the preset track and stay at each preset position on the preset track for a preset time.
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| CN110236474B (en) * | 2019-06-04 | 2020-10-27 | 北京理工大学 | Active magnetic control capsule robot detection system and detection method |
| CN110613454B (en) * | 2019-10-09 | 2022-07-26 | 北京华亘安邦科技有限公司 | Method and system for searching position of capsule endoscope |
| CN111486838B (en) * | 2020-04-13 | 2022-02-01 | 北京理工大学 | Method and device for establishing effective magnetic connection |
| CN112493970B (en) * | 2020-11-30 | 2021-10-22 | 元化智能科技(深圳)有限公司 | Tracking and positioning method and system of wireless capsule endoscope |
| CN116076995B (en) * | 2023-02-03 | 2023-09-01 | 浙江势通机器人科技有限公司 | Scanning control method and scanning control system for capsule endoscope |
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| DE102007051861B4 (en) * | 2007-10-30 | 2020-03-12 | Olympus Corporation | Method for guiding a capsule endoscope and endoscope system |
| CN103637803B (en) * | 2013-11-14 | 2015-08-19 | 上海交通大学 | Based on capsule endoscope space positioning system and the localization method of permanent magnetism and induction coil |
| CN104490394B (en) * | 2014-12-12 | 2018-05-29 | 上海安翰医疗技术有限公司 | The system and method that magnet finds capsule endoscope position in non-magnetic housing |
| CN105962879A (en) * | 2016-04-22 | 2016-09-28 | 重庆金山科技（集团）有限公司 | Pose control system and control method of capsule endoscope and capsule endoscope |
| CN106618456B (en) * | 2016-12-21 | 2019-02-12 | 重庆金山医疗器械有限公司 | Capsule endoscope control system |
| CN107348931B (en) * | 2017-05-27 | 2021-01-12 | 重庆金山医疗器械有限公司 | Capsule endoscope space attitude determination system |
| CN107374566B (en) * | 2017-07-13 | 2019-06-14 | 重庆金山医疗器械有限公司 | A kind of full attitude sensing system of capsule endoscope based on variation magnetic field |
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