CN109044250A - A kind of capsule endoscope motion control method, device and terminal device - Google Patents
A kind of capsule endoscope motion control method, device and terminal device Download PDFInfo
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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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- 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
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The present invention is suitable for field of medical device, provides a kind of capsule endoscope motion control method, device and terminal device, which comprises obtains the physical location and practical posture and target position and targeted attitude of capsule endoscope current point in time；According to preset motion control arithmetic, the motion profile of the magnetic control equipment is calculated, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；The magnetic control equipment is moved along the motion profile, to control the capsule endoscope motion.The embodiment of the present invention is by the practical posture of physical location, target position targeted attitude and the magnetic control equipment according to capsule endoscope to the magnetic force model of capsule, in conjunction with preset motion control arithmetic planning magnetic control equipment motion profile to drive capsule to move, to more be accurately controlled the movement position and athletic posture of capsule endoscope.
Description
Technical field
The invention belongs to field of medical device more particularly to a kind of capsule endoscope motion control methods, device and terminal
Equipment.
Background technique
Medical Devices of the capsule endoscope as diagnosis of digestive disease, due to its excellent diagnosis effect and painless, nothing
The detection mode of wound has obtained extensive research, and has gradually been applied in clinical diagnosis.Magnetic guiding capsule endoscope system
It is to install magnet in capsule robot, is driven by exterior guiding magnet, can be realized capsule robot in human consumption
Controlled motion in road.Magnetic guiding capsule endoscope due to the advantages that controllable in real time, power resources are stable, check frequency is small,
As the hot spot studied at present.
Existing capsule endoscope system typically directly operates magnetic control equipment, drives capsule by the magnetic force of external magnetic field
Movement is completed, due to being existed directly from peripheral operation magnetic control equipment to be unable to accurately control capsule endoscope by healthcare givers
The movement position and athletic posture of three-dimensional space in gastral cavity, the error in control cause the movement of capsule endoscope to generate error,
The data obtained so as to cause capsule endoscope are not comprehensive.
Summary of the invention
The embodiment of the present invention provides a kind of capsule endoscope motion control method, it is intended to which solution can not be precisely controlled in capsule
The problem of sight glass movement position and athletic posture.
The first aspect of the embodiment of the present invention provides a kind of capsule endoscope motion control method, which comprises
Obtain the physical location and practical posture and the corresponding target of current point in time of capsule endoscope current point in time
Position and targeted attitude；
According to preset motion control arithmetic, in conjunction with the physical location and practical posture, target position of the capsule endoscope
It sets with targeted attitude and magnetic control equipment to the magnetic force model of capsule endoscope, calculates the motion profile of the magnetic control equipment,
Wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；
The magnetic control equipment is moved along the motion profile, to control the capsule endoscope motion.
Further, the method also includes:
The target trajectory of the capsule endoscope is planned according to the interactive instruction that user inputs；
The corresponding target position of the current point in time and targeted attitude are current point in time on the target trajectory
Corresponding position and posture.
Further, the method also includes:
Touching wall detection is carried out to the capsule endoscope, if detecting the capsule endoscope touching wall, plans institute again
State target trajectory.
Further, the physical location for obtaining capsule endoscope and practical posture include:
The physical location and practical posture of the capsule endoscope current point in time are obtained by pose detection module, wherein
The pose detection module is arranged on the capsule endoscope.
Further, described according to preset motion control arithmetic, in conjunction with the capsule endoscope physical location and
Practical posture, target position and targeted attitude and magnetic control equipment calculate the magnetic control to the magnetic force model of capsule endoscope
The motion profile of equipment, wherein the magnetic control equipment is that the equipment for controlling the capsule endoscope motion includes:
The physical location of the capsule endoscope is corrected to magnetic gravitation according to gravity feedforward compensation algorithm and is balanced；
According to PID/feedback algorithm, in conjunction with the target position and targeted attitude of the capsule endoscope, physical location and reality
Posture and magnetic control equipment calculate the motion profile of the magnetic control equipment to the magnetic force model of capsule endoscope.
The second aspect of the embodiment of the present invention provides a kind of capsule endoscope motion control device, and described device includes:
Obtain module, for obtain capsule endoscope current point in time physical location and practical posture and it is current when
Between put corresponding target position and targeted attitude；
Algoritic module is used for according to preset motion control arithmetic, in conjunction with the physical location and reality of the capsule endoscope
Border posture, target position and targeted attitude and magnetic control equipment calculate the magnetic control and set to the magnetic force model of capsule endoscope
Standby motion profile, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；
Motion module is moved for the magnetic control equipment along the motion profile, to control the capsule endoscope fortune
It is dynamic.
Further, described device further include:
The target movement rail of the capsule endoscope is planned in target trajectory module, the interactive instruction for being inputted according to user
Mark.
Further, described device further include:
Wall detection module is touched, for carrying out touching wall detection to the capsule endoscope, if detecting the capsule endoscope
Wall is touched, then plans the target trajectory again.
Further, the acquisition module includes:
Pose detection module, for obtaining the physical location and practical posture of the capsule endoscope.
Further, the algoritic module includes:
Magnetic gravitation corrects unit, for according to gravity feedforward compensation algorithm by the physical location school of the capsule endoscope
Just balanced to magnetic gravitation；
Trajectory calculation unit, for the target position and target appearance according to PID/feedback algorithm, in conjunction with the capsule endoscope
State, physical location and practical posture and magnetic control equipment calculate the fortune of the magnetic control equipment to the magnetic force model of capsule endoscope
Dynamic rail mark.
The third aspect of the embodiment of the present invention provides a kind of capsule endoscope motion controlling terminal equipment, including memory,
Processor and it is stored in the computer program that can be run in above-mentioned memory and on above-mentioned processor, above-mentioned processor executes
The step of method provided by first aspect as above is realized when above-mentioned computer program.
The present invention obtains the physical location and practical posture and current point in time of capsule endoscope current point in time first
Corresponding target position and targeted attitude；Then according to preset motion control arithmetic, in conjunction with the reality of the capsule endoscope
Position and practical posture, target position and targeted attitude and magnetic control equipment calculate institute to the magnetic force model of capsule endoscope
The motion profile of magnetic control equipment is stated, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；It is last described
Magnetic control equipment is moved according to magnetic control equipment moving track, to control the capsule endoscope motion.Due to combining
Physical location, target position and magnetic force model calculate the motion profile of magnetic control equipment using motion control arithmetic, thus more precisely
Ground controls the movement position and athletic posture of capsule endoscope, and capsule endoscope motion error is small compared with prior art, movement
More precisely, the intracorporal data of user can more comprehensively be accurately acquired.
Detailed description of the invention
Fig. 1 is the implementation process schematic diagram of capsule endoscope motion control method provided in an embodiment of the present invention；
Fig. 2 is the specific flow chart of capsule endoscope motion control method provided in an embodiment of the present invention；
Fig. 3 is the structural block diagram of capsule endoscope motion control device provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram for the capsule endoscope motion controlling terminal equipment that embodiment provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention is by physical location according to capsule endoscope and target position, in conjunction with preset motion control arithmetic pair
The physical location of capsule endoscope and practical posture carry out error correction, to more be accurately controlled the motion bit of capsule endoscope
Set and athletic posture, capsule endoscope motion error is small compared with prior art, movement more precisely, can more comprehensively accurately acquire
The intracorporal data of user.
Embodiment one
Fig. 1 shows the implementation process of the capsule endoscope motion control method of the offer of the embodiment of the present invention one, is described in detail such as
Under:
Step S101 obtains the physical location and practical posture and current point in time of capsule endoscope current point in time
Corresponding target position and targeted attitude.
In embodiments of the present invention, optionally, before this step, the glue is planned according to the interactive instruction of user's input
The target trajectory of intracapsular sight glass；The corresponding target position of the current point in time and targeted attitude are that the target moves rail
The corresponding position of current point in time and posture on mark.
Optionally, the human-computer interaction instruction for receiving user's human-computer interaction input capsule endoscope, instructs according to human-computer interaction
The target trajectory of instruction planning capsule endoscope.Wherein, input human-computer interaction instruction can be advance, retrogressing, left-hand rotation,
The instruction such as right-hand rotation, target trajectory are cooked up according to interactive instruction come planing method includes multinomial planning, batten rule
Draw etc. planing methods.
Optionally, capsule endoscope is provided with pose detection module, obtains current time by above-mentioned pose detection module
The physical location of the above-mentioned capsule endoscope of point, wherein including sensor unit and location algorithm unit in above-mentioned pose detection module
Two parts.Specifically, in location algorithm unit with the sensor unit obtain data be input, calculate capsule position and
Posture.Wherein the sensor unit can both be located at capsule, can also be located at outside capsule.In the sensor unit
Sensor can be Magnetic Sensor, inertial sensor, ultrasonic wave locating module, X-ray locating module etc., be not construed as limiting herein.On
Rheme appearance detection module can obtain the physical location and practical posture, the i.e. reality of capsule endoscope of above-mentioned capsule endoscope in real time
The camera direction of border movement position and corresponding capsule endoscope, or above-mentioned capsule endoscope is obtained every preset time
Physical location and practical posture, to guarantee that the position detection of capsule endoscope is timely.
Further, the corresponding capsule of current point in time is obtained according to the target trajectory of capsule endoscope and time point
The target position of endoscope and targeted attitude, i.e., the side of camera in the target movement position and capsule endoscope of capsule endoscope
To.
Optionally, after getting the physical location of capsule endoscope, the touching wall detection of capsule endoscope is carried out, institute is detected
State whether capsule endoscope touches wall.Specifically, the physical location of capsule endoscope is calculated and the distance between with target position
Afterwards, the calculated distance is compared with the threshold value pre-set, if the distance is greater than preset threshold, is sentenced
Whether above-mentioned distance is always more than above-mentioned preset threshold in disconnected preset time, if the determination result is YES, then is labeled as peeping in capsule
Mirror touches wall, plans the target trajectory of capsule endoscope again.
Step S102, according to preset motion control arithmetic, in conjunction with the physical location and practical appearance of the capsule endoscope
State, target position and targeted attitude and magnetic control equipment calculate the magnetic control equipment to the magnetic force model of capsule endoscope
Motion profile, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion.
Optionally, in the target position and targeted attitude that acquire capsule endoscope and physical location and practical posture
Afterwards, start the motion profile of calculating magnetic control equipment.
Further, capsule endoscope is corrected at physical location to magnetic force weight according to gravity feedforward compensation algorithm first
Dynamic balance, wherein gravity compensation feedforward arithmetic is used to compensate the gravity and buoyancy difference of capsule endoscope.Specifically, institute is detected first
Whether the magnetic gravitation for stating capsule endoscope balances, and carries out next step calculating if balance, if uneven pass through gravity compensation
Algorithm calculates the motion profile of magnetic control equipment, and control magnetic control equipment is moved along track, to correct capsule endoscope in physical location
The magnetic force that place is received, until the magnetic gravitation balance of capsule endoscope.
Further, after the magnetic gravitation of capsule endoscope reaches balance, by PID/feedback algorithm in conjunction with the capsule
The magnetic force mould of the target position of endoscope and targeted attitude, physical location and practical posture and magnetic control equipment to capsule endoscope
Type calculates the motion profile of magnetic control equipment, wherein the PID/feedback algorithm is completed by PID controller, PID controller is one
Common feedback loop component, is made of proportional unit, integral unit and differentiation element in Industry Control Application.PID control
Basis be ratio control；Integration control can eliminate steady-state error；Differential control can accelerate Great inertia system response speed and
Weaken overshoot trend.Power required for capsule moves is provided on the basis of gravity compensation by PID/feedback algorithm.
Optionally, preset control algolithm further includes the double optimization algorithm based on external magnetic control device model, be can be
Trust Region Algorithm, the motion control for using double optimization algorithm that can make capsule endoscope are more accurate.
Step S103, the magnetic control equipment are moved along the motion profile, to control the capsule endoscope motion.
Optionally, after the motion profile for calculating magnetic control equipment by motion control arithmetic, according to the fortune of magnetic control equipment
Dynamic TRAJECTORY CONTROL magnetic control equipment moving, so that magnetic control equipment can control capsule endoscope motion.Specifically, capsule endoscope has
Magnetic material, magnetic control equipment traction capsule endoscope are moved, external control capsule endoscope magnetic control equipment according to
The physical location and practical posture of motion profile error correction capsule endoscope, external magnetic control equipment receive the movement calculated
Trajectory error carries out error transfer factor planning, and magnetic control equipment is planned according to error transfer factor, capsule endoscope motion is controlled, to reach
Position and posture after to correction.
Fig. 2 shows the detailed processes of capsule endoscope motion control method, as shown in Fig. 2, step 21 obtains people first
Machine interactive instruction, step 22 generate target trajectory, and then step 23 obtains the physical location and practical appearance of capsule endoscope
State, then step 24 carries out touching wall judgement, and return step 21 re-starts target trajectory planning if capsule is rebuffed, if not having
Have to be rebuffed then arrive step 25 and feedovered according to gravity compensation and adjust capsule endoscope magnetic gravitation to balance, then step 26 basis
PID/feedback algorithm calculates magnetic control equipment moving track, and final step 27 is according to magnetic control equipment moving track, magnetic control equipment moving
To control capsule endoscope motion.
In the present embodiment, by physical location according to capsule endoscope and target position, in conjunction with preset motion control
Algorithm calculates the motion profile of magnetic control equipment, so that magnetic control equipment drives capsule endoscope motion, to more be accurately controlled
The movement position and athletic posture of capsule endoscope, capsule endoscope motion error is small compared with prior art, movement more precisely,
The intracorporal data of user can more comprehensively be accurately acquired.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment two
Fig. 3 shows the structural block diagram of capsule endoscope motion control device provided in an embodiment of the present invention, for the ease of
Illustrate, only parts related to embodiments of the present invention are shown.The capsule endoscope motion control device 3 includes: acquisition module
31, algoritic module 32, motion module 33.
Wherein, obtain module 31, for obtain capsule endoscope current point in time physical location and practical posture, and
The corresponding target position of current point in time and targeted attitude；
Algoritic module 32, for according to preset motion control arithmetic, in conjunction with the capsule endoscope physical location and
Practical posture, target position and targeted attitude and magnetic control equipment calculate the magnetic control to the magnetic force model of capsule endoscope
The motion profile of equipment, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；
Motion module 33 is moved for magnetic control equipment along the motion profile, to control the capsule endoscope motion.
Optionally, above-mentioned capsule endoscope motion control device 3 further include:
The target movement rail of the capsule endoscope is planned in target trajectory module, the interactive instruction for being inputted according to user
Mark.
Optionally, above-mentioned capsule endoscope motion control device 3 further include:
Wall detection module is touched, for carrying out touching wall detection to the capsule endoscope, if detecting the capsule endoscope
Wall is touched, then plans the target trajectory again.
Optionally, above-mentioned capsule endoscope motion control device 3 further include:
Pose detection module, for obtaining the physical location and practical posture of the capsule endoscope.
Optionally, above-mentioned algoritic module 33 includes:
Magnetic gravitation corrects unit, for according to gravity feedforward compensation algorithm by the physical location school of the capsule endoscope
Just balanced to magnetic gravitation；
Trajectory calculation unit, for the target position and target appearance according to PID/feedback algorithm, in conjunction with the capsule endoscope
State, physical location and practical posture and magnetic control equipment calculate the fortune of the magnetic control equipment to the magnetic force model of capsule endoscope
Dynamic rail mark.
The present invention passes through first obtains physical location and practical posture that module obtains capsule endoscope current point in time, with
And the corresponding target position of current point in time and targeted attitude；Then by algoritic module according to preset motion control arithmetic,
In conjunction with the capsule endoscope physical location and practical posture, target position and targeted attitude and magnetic control equipment in capsule
The magnetic force model of sight glass calculates the motion profile of the magnetic control equipment, wherein the magnetic control equipment is to control in the capsule
The equipment of sight glass movement；It is moved finally by magnetic control equipment described in motion module according to magnetic control equipment moving track,
To control the capsule endoscope motion.Due to combining physical location, target position and magnetic force model, calculated using motion control
The motion profile that method calculates magnetic control equipment is compared to more be accurately controlled the movement position and athletic posture of capsule endoscope
Prior art bladder endoscope kinematic error is small, movement more precisely, can more comprehensively accurately acquire the intracorporal data of user.
Embodiment three
Fig. 4 is the schematic diagram for the capsule endoscope motion controlling terminal equipment that one embodiment of the invention provides.Such as Fig. 4 institute
Show, the capsule endoscope motion controlling terminal equipment 4 of the embodiment includes: processor 40, memory 41 and is stored in above-mentioned
In memory 41 and the computer program 42 that can run on above-mentioned processor 40, such as capsule endoscope motion control program.
Above-mentioned processor 40 is realized when executing above-mentioned computer program 42 in above-mentioned each capsule endoscope motion control method embodiment
The step of, such as step 101 shown in FIG. 1 is to 103.Alternatively, realization when above-mentioned processor 40 executes above-mentioned computer program 42
The function of each module/unit in above-mentioned each Installation practice, such as the function of module 31 to 33 shown in Fig. 3.
Illustratively, above-mentioned computer program 42 can be divided into one or more module/units, said one or
Multiple module/units are stored in above-mentioned memory 41, and are executed by above-mentioned processor 40, to complete the present invention.Above-mentioned one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the above-mentioned computer program 42 in above-mentioned capsule endoscope motion controlling terminal equipment 4 is described.For example, above-mentioned meter
Calculation machine program 42, which can be divided into, obtains module, algoritic module, motion module, and each module concrete function is as follows:
Obtain module, for obtain capsule endoscope current point in time physical location and practical posture and it is current when
Between put corresponding target position and targeted attitude；
Algoritic module is used for according to preset motion control arithmetic, in conjunction with the physical location and reality of the capsule endoscope
Border posture, target position and targeted attitude and magnetic control equipment calculate the magnetic control and set to the magnetic force model of capsule endoscope
Standby motion profile, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；
Motion module is moved for the magnetic control equipment along the motion profile, to control the capsule endoscope fortune
It is dynamic.
Above-mentioned capsule endoscope motion controlling terminal equipment 4 can be desktop PC, notebook, palm PC and cloud
Server etc. is held to calculate equipment.Above-mentioned capsule endoscope motion controlling terminal equipment may include, but be not limited only to, processor 40,
Memory 41.It will be understood by those skilled in the art that Fig. 4 is only the example of capsule endoscope motion controlling terminal equipment 4, and
The restriction to capsule endoscope motion controlling terminal equipment 4 is not constituted, may include components more more or fewer than diagram, or
Certain components or different components are combined, such as above-mentioned capsule endoscope motion controlling terminal equipment can also include input
Output equipment, network access equipment, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Above-mentioned memory 41 can be the internal storage unit of above-mentioned capsule endoscope motion controlling terminal equipment 4, such as
The hard disk or memory of capsule endoscope motion controlling terminal equipment 4.Above-mentioned memory 41 is also possible to above-mentioned capsule endoscope fortune
The External memory equipment of dynamic controlling terminal equipment 4, such as the control of above-mentioned capsule endoscope motion judge to be equipped on terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, above-mentioned memory 41 can also both include that the control of above-mentioned capsule endoscope motion is whole
The internal storage unit of end equipment 4 also includes External memory equipment.Above-mentioned memory 41 is for storing above-mentioned computer program 42
And other programs and data needed for above-mentioned capsule endoscope motion controlling terminal equipment.Above-mentioned memory 41 can be also used for
Temporarily store the data that has exported or will export.
Therefore the present invention obtains the physical location and practical posture of capsule endoscope current point in time first, and
The corresponding target position of current point in time and targeted attitude；Then according to preset motion control arithmetic, in conjunction in the capsule
The magnetic force mould of the physical location of sight glass and practical posture, target position and targeted attitude and magnetic control equipment to capsule endoscope
Type calculates the motion profile of the magnetic control equipment, wherein the magnetic control equipment is to control setting for the capsule endoscope motion
It is standby；The last magnetic control equipment is moved according to magnetic control equipment moving track, to control the capsule endoscope motion.
Due to combining physical location, target position and magnetic force model, the motion profile of magnetic control equipment is calculated using motion control arithmetic,
To more be accurately controlled the movement position and athletic posture of capsule endoscope, capsule endoscope motion error compared with prior art
It is small, movement more precisely, can more comprehensively accurately acquire the intracorporal data of user.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of above-mentioned apparatus is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, on
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, above-mentioned meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, above-mentioned computer program includes computer program code, above-mentioned computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry above-mentioned computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (12)
1. a kind of capsule endoscope motion control method, which is characterized in that the described method includes:
Obtain physical location and practical posture and the corresponding target position of current point in time of capsule endoscope current point in time
And targeted attitude；
According to preset motion control arithmetic, in conjunction with the physical location of the capsule endoscope and practical posture, target position and
Targeted attitude and magnetic control equipment calculate the motion profile of the magnetic control equipment to the magnetic force model of capsule endoscope, wherein
The magnetic control equipment is the equipment for controlling the capsule endoscope motion；
The magnetic control equipment is moved along the motion profile, to control the capsule endoscope motion.
2. capsule endoscope motion control method as described in claim 1, which is characterized in that obtaining, capsule endoscope is current
Before the physical location at time point and practical posture, further includes:
The target trajectory of the capsule endoscope is planned according to the interactive instruction that user inputs；
The corresponding target position of the current point in time and targeted attitude are that current point in time is corresponding on the target trajectory
Position and posture.
3. capsule endoscope motion control method as described in claim 1, which is characterized in that the method also includes:
Touching wall detection is carried out to the capsule endoscope, if detecting the capsule endoscope touching wall, plans the mesh again
Mark motion profile.
4. capsule endoscope motion control method as described in claim 1, which is characterized in that the acquisition capsule endoscope is worked as
The physical location at preceding time point and practical posture include:
The physical location and practical posture of the capsule endoscope current point in time are obtained by pose detection module, wherein described
Pose detection module is arranged on the capsule endoscope.
5. capsule endoscope motion control method as described in claim 1, which is characterized in that described to be controlled according to preset movement
Algorithm processed, in conjunction with the physical location and practical posture, target position and targeted attitude and magnetic control equipment of the capsule endoscope
To the magnetic force model of capsule endoscope, the motion profile of the magnetic control equipment is calculated, wherein the magnetic control equipment is control institute
The equipment for stating capsule endoscope motion includes:
The physical location of the capsule endoscope is corrected to magnetic gravitation according to gravity feedforward compensation algorithm and is balanced；
According to PID/feedback algorithm, in conjunction with the target position of the capsule endoscope and targeted attitude, physical location and practical posture
And magnetic control equipment calculates the motion profile of the magnetic control equipment to the magnetic force model of capsule endoscope.
6. a kind of capsule endoscope motion control device, which is characterized in that described device includes:
Module is obtained, for obtaining the physical location and practical posture and current point in time of capsule endoscope current point in time
Corresponding target position and targeted attitude；
Algoritic module is used for according to preset motion control arithmetic, in conjunction with the physical location and practical appearance of the capsule endoscope
State, target position and targeted attitude and magnetic control equipment calculate the magnetic control equipment to the magnetic force model of capsule endoscope
Motion profile, wherein the magnetic control equipment is the equipment for controlling the capsule endoscope motion；
Motion module is moved for the magnetic control equipment along the motion profile, to control the capsule endoscope motion.
7. capsule endoscope motion control device as claimed in claim 6, which is characterized in that described device further include:
The target trajectory of the capsule endoscope is planned in target trajectory module, the interactive instruction for being inputted according to user.
8. capsule endoscope motion control device as claimed in claim 6, which is characterized in that described device further include:
Wall detection module is touched, for carrying out touching wall detection to the capsule endoscope, if detecting the capsule endoscope touching wall,
The target trajectory is then planned again.
9. capsule endoscope motion control device as claimed in claim 6, which is characterized in that the acquisition module includes:
Pose detection module, for obtaining the physical location and practical posture of the capsule endoscope.
10. capsule endoscope motion control device as claimed in claim 6, which is characterized in that the algoritic module includes:
Magnetic gravitation correct unit, for according to gravity feedforward compensation algorithm by the physical location of the capsule endoscope correct to
Magnetic gravitation balance；
Trajectory calculation unit, for according to PID/feedback algorithm, in conjunction with the target position of the capsule endoscope and targeted attitude,
Physical location and practical posture and magnetic control equipment calculate the movement of the magnetic control equipment to the magnetic force model of capsule endoscope
Track.
11. a kind of capsule endoscope motion controlling terminal equipment, including memory, processor and storage are in the memory
And the computer program that can be run on the processor, which is characterized in that when the processor executes the computer program
It realizes such as the step of any one of claim 1 to 5 the method.
12. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| CN201810984388.1A CN109044250A (en) | 2018-08-28 | 2018-08-28 | A kind of capsule endoscope motion control method, device and terminal device |
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| CN110575118A (en) * | 2019-09-11 | 2019-12-17 | 安翰科技(武汉)股份有限公司 | capsule endoscope control method, system, electronic device and readable storage medium |
| CN111956170A (en) * | 2020-07-31 | 2020-11-20 | 上海安翰医疗技术有限公司 | Motion control system and motion control method for capsule endoscope |
| CN112089392A (en) * | 2020-10-14 | 2020-12-18 | 深圳市资福医疗技术有限公司 | Capsule endoscope control method, device, equipment, system and storage medium |
| CN112372635A (en) * | 2020-10-15 | 2021-02-19 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| WO2021109408A1 (en) * | 2019-12-06 | 2021-06-10 | 深圳市资福医疗技术有限公司 | Control method for capsule endoscope and capsule endoscope using same |
| CN113520275A (en) * | 2021-08-13 | 2021-10-22 | 元化智能科技(深圳)有限公司 | Trajectory tracking system, apparatus and medium for wireless capsule endoscope |
| WO2023174427A1 (en) * | 2022-03-18 | 2023-09-21 | 安翰科技(武汉)股份有限公司 | Magnetic control capsule system and quantitative closed-loop control method therefor |
| WO2024032624A1 (en) * | 2022-08-08 | 2024-02-15 | 安翰科技(武汉)股份有限公司 | Control method and device for magnetic control capsule system |
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