CN108827133A - A method of detecting mobile magnetic source pose - Google Patents
A method of detecting mobile magnetic source pose Download PDFInfo
- Publication number
- CN108827133A CN108827133A CN201810620196.2A CN201810620196A CN108827133A CN 108827133 A CN108827133 A CN 108827133A CN 201810620196 A CN201810620196 A CN 201810620196A CN 108827133 A CN108827133 A CN 108827133A
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- magnetic field
- magnetic
- pose
- field strength
- driving magnet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
Abstract
The present invention provides a kind of methods for detecting mobile magnetic source pose, and the equipment of use includes driving magnet, Magnetic Sensor and controller.Driving magnet is stored in advance relative to the magnetic field strength under Magnetic Sensor different positions and pose as noise magnetic field；The driving magnet drives mobile magnetic source to be measured to move to a certain pose, and controller determines the magnetic field strength in current noise magnetic field according to the current pose of driving magnet and pre-stored driving magnet position orientation relation；Total magnetic intensity of the mobile magnetic source to be measured under current pose is measured using Magnetic Sensor, the total magnetic intensity and the magnetic field strength in current noise magnetic field make the magnetic field strength that difference obtains mobile magnetic source, are calculated to obtain the pose of current mobile magnetic source according to the magnetic field strength of the mobile magnetic source.The present invention can obtain the high-precision magnetic field signal of mobile magnetic source, to improve pose detection accuracy.
Description
Technical field
The present invention relates to magnetic field strength technical fields, and in particular to a method of detect mobile magnetic source pose.
Background technique
Traditional colonoscopy is operated using Sigmoidoscope, and doctor enters colon using external force control Sigmoidoscope,
It is easy to encounter upper wall when enteron aisle inside turn, increases the pain of patient.Therefore capsule endoscope technology grows up therewith, answers at present
The capsule of capsule endoscope has small magnet, carrys out guide capsule using external magnets.
External magnets guiding endoscope capsule is big with obvious advantage, including motion range, and detection coverage rate is higher, and
It can complete the detection and treatment of specified location.
In the detection process, need to position position and the posture of capsule, pose detection is main to be examined by external sensor
The embedded magnetic source of capsule is surveyed, so that it is determined that capsule pose.
When detecting position and posture, external drive magnetic field exists as noise, needs to remove, and only retains capsule magnetic
The corresponding magnetic field value in source.However, the magnetic field signal that Magnetic Sensor obtains includes the driving magnetic field signal and effective magnetic of larger specific gravity
Source signal, if background magnetic field cannot be removed accurately, the testing result of mobile magnetic source necessarily has very big error.
Summary of the invention
In view of this, it is high-precision that mobile magnetic source can be obtained the present invention provides a kind of method for detecting mobile magnetic source pose
The magnetic field signal of degree, to improve pose detection accuracy.
A specific embodiment of the invention is as follows：
A method of mobile magnetic source pose being detected, the equipment of use includes driving magnet, Magnetic Sensor and controller；
The Magnetic Sensor is distributed at two dimension known to position or three-dimensional space point；
Detection method is：Driving magnet is stored in advance relative to the magnetic field strength under Magnetic Sensor different positions and pose as noise
Magnetic field；The driving magnet drives mobile magnetic source to be measured to move to a certain pose, controller according to the current pose of driving magnet with
Pre-stored driving magnet position orientation relation determines the magnetic field strength in current noise magnetic field；Movement to be measured is measured using Magnetic Sensor
The magnetic field strength in total magnetic intensity of the magnetic source under current pose, the total magnetic intensity and current noise magnetic field is made difference and is moved
The magnetic field strength of dynamic magnetic source calculates to obtain the pose of current mobile magnetic source according to the magnetic field strength of the mobile magnetic source.
Further, the specific method of the magnetic field strength in the determining current noise magnetic field is：
If the current pose of driving magnet was stored in advance, made using the magnetic field strength stored under the current pose of driving magnet
For the magnetic field strength in current noise magnetic field；
Under conditions of the current pose of driving magnet was not stored in advance, if the two neighboring magnetic that pose is stored in advance
The difference of field intensity is in sensor x, y, and both less than specified threshold on the direction z then utilizes the magnetic field strength that pose is stored in advance
Carry out interpolation arithmetic, the magnetic field strength using the calculated value after interpolation as current noise magnetic field；If two neighboring deposit in advance
The difference of the magnetic field strength of storage space appearance is in sensor x, y, cannot be both less than specified threshold on the direction z, then be moved to driving magnet
Specified is stored in advance pose, and mobile magnetic source to be measured at this time is motionless, strong using the specified magnetic field being stored in advance under pose
Spend the magnetic field strength as current noise magnetic field.
Further, the Magnetic Sensor is arranged according to two dimension or cubical array.
Beneficial effect：
1, the intensity of the invention by the way that noise magnetic field is stored in advance, then removes corresponding noise magnetic in the detection process
, the influence of the background magnetic fields such as driving magnetic field can be eliminated, the mobile high-precision magnetic field signal of magnetic source is obtained, to improve pose
Detection accuracy.
2, Magnetic Sensor of the present invention is arranged according to two dimension or cubical array, Magnetic Sensor arrangement mode rule, convenient for parsing
It calculates, improves efficiency.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is capsule and array of magnetic sensors schematic diagram；
Fig. 3 is array of magnetic sensors measurement capsule position and attitude schematic diagram；
Fig. 4 is one driving magnet measurement position schematic diagram of embodiment；
Fig. 5 is two driving magnet ambient noise memory space schematic diagram of embodiment.
Wherein, 1- magnet to be measured, 2- capsule, 3- Magnetic Sensor, 4- driving magnet, 5- capsule moving region, 6- are deposited in advance
Storage space appearance.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of method for detecting mobile magnetic source pose, the equipment of use includes driving magnet 4, magnetic sensing
Device 3 and controller.
Mobile magnetic source to be measured includes magnet 1 and capsule 2 to be measured, and capsule endoscope embeds magnet 1 to be measured and forms mobile magnetic source,
It is executed in stomach and intestine and checks and treat function, as shown in Figure 2.
Driving magnet 4 is located at human external, is conventional magnet, by magnetic field force reciprocation, guide capsule 2 is in stomach and intestine
Movement, as shown in Figure 3.
Array of magnetic sensors is located at human external, the motion pose of magnet 1 to be measured in capsule 2 can be tracked, such as Fig. 2 institute
Show, using the arrangement form of rectangular array, known to the relative position between each Magnetic Sensor.
Driving magnet 4 controls its movement by robot, and the position of driving magnet 4 and posture can be by the volumes that are arranged in robot
Code device feedback obtains, and array of magnetic sensors integral installation is in movement or static device, and known to its own pose.
Controller is used for analytical Calculation.
Detection method step is illustrated as shown in Figure 1, being exemplified below embodiment.
Embodiment one
Step 1 stores noise magnetic field.
In the case where magnet 1 to be measured is not present, mobile driving magnet 4, makes driving magnet 4 relative to array of magnetic sensors
With different location and posture, the magnetic field strength under storage driving magnetic field different location and posture is strong as the magnetic field of noise magnetic field
Degree.As shown in figure 4, establishing array co-ordinates system by origin of array of magnetic sensors center, plane where array of magnetic sensors is XY
Plane, the direction perpendicular to X/Y plane are Z-direction, and array center's coordinate is (0,0,0), and setting driving magnet 4 is passed relative to magnetic
Driving magnet 4 is placed on any one position, stop motion by the fixed N number of pose of sensor array, N >=1, keeps posture.Note
This coordinate of N number of pose under array co-ordinates system is recorded, (x is set as1n, y1n, z1n, α1, β1, γ1), wherein n=1,2 ... N, and
x1n, y1n, z1nIt is position coordinates of the driving magnet 4 relative to array of magnetic sensors, α1, β1, γ1For the posture of driving magnet 4, it is
Constant.Under the above conditions, magnetic-field measurement successively is carried out using array of magnetic sensors, array of magnetic sensors includes A magnetic sensing
Device 3, A >=3, or provide and be no less than 5 magnetic field signals, each Magnetic Sensor 3 is three-axis sensor, reads A magnetic sensing
Device 3 is located at the magnetic field strength under N number of pose in driving magnet 4, and 3*A magnetic field strength coexists in 4 pose of driving magnet, N number of
Pose shares 3*A*N magnetic field strength, using all magnetic field strengths measured as the magnetic field strength of noise magnetic field, including each position
The signal and other interference signals that the Geomagnetic signal of appearance, driving magnet 4 generate respectively.
Step 2, array of magnetic sensors measure current magnetic field intensity.
Driving magnet 4 drives capsule 2 to move in capsule moving region 5, when array of magnetic sensors of the needs outside
When positioning the pose of capsule 2, controller is sat according to the current pose coordinate of driving magnet 4 and pre-stored 4 pose of driving magnet
Mark relationship determines the magnetic field strength in current noise magnetic field, if the current pose of driving magnet 4 was stored in advance, uses driving magnet
Magnetic field strength of the magnetic field strength as current noise magnetic field under 4 current poses；
If the current pose of driving magnet 4 was not stored in advance, then driving magnet 4 is moved to nearest be stored in advance
Pose 6, mobile magnetic source to be measured at this time is motionless, using the nearest magnetic field strength being stored in advance under pose 6 as current noise magnetic
The magnetic field strength of field.Later, total magnetic intensity of the magnet 1 to be measured under current pose is measured using array of magnetic sensors, this is total
Magnetic field strength includes the magnetic field strength of the external contexts noise such as drive magnet, and there are also the magnetic field strengths of magnet 1 to be measured.A 3 axis pass
3*A magnetic field strength of storage coexists in sensor.
Step 3 removes noise magnetic field intensity.
The total magnetic intensity measured in step 2 is subtracted to the magnetic field strength in current noise magnetic field, i.e., removal Geomagnetic signal,
The magnetic field and other interference magnetic fields that driving magnet 4 generates respectively, obtain the magnetic field distribution of capsule 2, i.e. operation detection algorithm
Useful signal.
Step 4 runs pose detection algorithm.
Using the magnetic field distribution of capsule 2, no less than 5 magnetic field signals, detection algorithm is run, current glue is calculated
The position of capsule 2 and posture.
Embodiment two
Embodiment two with embodiment one as shown in figure 5, the difference is that, when storing noise magnetic field in step 1, drive
The pose density of magnet 4 is different, need to guarantee in the case where adjacent two are stored in advance pose, and magnetic field strength is in x, y, in z all directions
Difference be both less than specified threshold, this density can pass through test obtain.The selection of specified threshold and the positioning accuracy finally required have
It closes.When desired testing result position precision is within 10mm, attitude accuracy within 5 degree, the storage location of arbitrary neighborhood and
In x between posture, y, the magnetic field difference in z all directions is all not more than 100-300mGs.
In step 2, the difference is that, if the current pose of driving magnet 4 was not stored in advance, then judge away from
Pose is stored in advance with respect to other storages pose closer two from the current pose of driving magnet；Pose is stored in advance using two
Magnetic field strength carry out interpolation arithmetic, the magnetic field strength using the calculated value after interpolation as current noise magnetic field.
Subsequent calculation method and embodiment one are consistent.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of method for detecting mobile magnetic source pose, which is characterized in that the equipment used include driving magnet, Magnetic Sensor with
And controller；The Magnetic Sensor is distributed at two dimension known to position or three-dimensional space point；
Detection method is：Driving magnet is stored in advance relative to the magnetic field strength under Magnetic Sensor different positions and pose as noise magnetic
?；The driving magnet drives mobile magnetic source to be measured to move to a certain pose, and controller is according to the current pose of driving magnet and in advance
The driving magnet position orientation relation first stored determines the magnetic field strength in current noise magnetic field；Mobile magnetic to be measured is measured using Magnetic Sensor
The magnetic field strength in total magnetic intensity of the source under current pose, the total magnetic intensity and current noise magnetic field is made difference and is moved
The magnetic field strength of magnetic source calculates to obtain the pose of current mobile magnetic source according to the magnetic field strength of the mobile magnetic source.
2. the method as described in claim 1 for detecting mobile magnetic source pose, which is characterized in that the determining current noise magnetic field
The specific method of magnetic field strength be：
If the current pose of driving magnet was stored in advance, it is used as and is worked as using the magnetic field strength stored under the current pose of driving magnet
The magnetic field strength of preceding noise magnetic field；
Under conditions of the current pose of driving magnet was not stored in advance, if the two neighboring magnetic field that pose is stored in advance is strong
The difference of degree is in sensor x, y, and both less than specified threshold on the direction z then utilizes the magnetic field strength that pose is stored in advance to carry out
Interpolation arithmetic, the magnetic field strength using the calculated value after interpolation as current noise magnetic field；If two neighboring be stored in advance position
The difference of the magnetic field strength of appearance is in sensor x, y, cannot be both less than specified threshold on the direction z, then be moved to driving magnet specified
Pose is stored in advance, mobile magnetic source to be measured at this time is motionless, is made using the specified magnetic field strength being stored in advance under pose
For the magnetic field strength in current noise magnetic field.
3. the method as described in claim 1 for detecting mobile magnetic source pose, which is characterized in that the Magnetic Sensor is according to two dimension
Or cubical array arrangement.
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| CN201810620196.2A CN108827133B (en) | 2018-06-15 | 2018-06-15 | Method for detecting pose of mobile magnetic source |
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| CN201810620196.2A CN108827133B (en) | 2018-06-15 | 2018-06-15 | Method for detecting pose of mobile magnetic source |
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| CN109620104A (en) * | 2019-01-10 | 2019-04-16 | 深圳市资福医疗技术有限公司 | Capsule endoscope and its localization method and system |
| CN109916287A (en) * | 2019-01-30 | 2019-06-21 | 西安维控自动化科技有限公司 | A kind of in-plane displancement sensor, displacement detecting method and system based on magnetic induction |
| CN110236474A (en) * | 2019-06-04 | 2019-09-17 | 北京理工大学 | A kind of active magnetic control capsule robot detection system and detection method |
| CN111486838A (en) * | 2020-04-13 | 2020-08-04 | 北京理工大学 | Method and device for establishing effective magnetic connection |
| CN111888634A (en) * | 2020-07-30 | 2020-11-06 | 浙江大学 | Automatic drug delivery system and method |
| CN112113495A (en) * | 2019-06-21 | 2020-12-22 | 英飞凌科技股份有限公司 | Detecting discrete positional relationships between magnetic field emitters and magnetic field sensor devices |
| CN113768449A (en) * | 2019-06-17 | 2021-12-10 | 深圳硅基智控科技有限公司 | Positioning system of capsule endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109620104A (en) * | 2019-01-10 | 2019-04-16 | 深圳市资福医疗技术有限公司 | Capsule endoscope and its localization method and system |
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| CN109916287A (en) * | 2019-01-30 | 2019-06-21 | 西安维控自动化科技有限公司 | A kind of in-plane displancement sensor, displacement detecting method and system based on magnetic induction |
| CN109916287B (en) * | 2019-01-30 | 2020-11-27 | 西安维控自动化科技有限公司 | Planar displacement sensor based on magnetic induction, displacement detection method and system |
| CN110236474A (en) * | 2019-06-04 | 2019-09-17 | 北京理工大学 | A kind of active magnetic control capsule robot detection system and detection method |
| CN110236474B (en) * | 2019-06-04 | 2020-10-27 | 北京理工大学 | Active magnetic control capsule robot detection system and detection method |
| WO2020244582A1 (en) * | 2019-06-04 | 2020-12-10 | 北京理工大学 | Active magnetically controlled capsule robot detection system and detection method |
| CN113768449A (en) * | 2019-06-17 | 2021-12-10 | 深圳硅基智控科技有限公司 | Positioning system of capsule endoscope |
| CN112113495A (en) * | 2019-06-21 | 2020-12-22 | 英飞凌科技股份有限公司 | Detecting discrete positional relationships between magnetic field emitters and magnetic field sensor devices |
| CN111486838A (en) * | 2020-04-13 | 2020-08-04 | 北京理工大学 | Method and device for establishing effective magnetic connection |
| CN111486838B (en) * | 2020-04-13 | 2022-02-01 | 北京理工大学 | Method and device for establishing effective magnetic connection |
| CN111888634A (en) * | 2020-07-30 | 2020-11-06 | 浙江大学 | Automatic drug delivery system and method |
| CN111888634B (en) * | 2020-07-30 | 2021-06-15 | 浙江大学 | Automatic drug delivery system and method |
| WO2022021989A1 (en) * | 2020-07-30 | 2022-02-03 | 浙江大学 | Automatic drug delivery system and method |
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