CN109620104A - Capsule endoscope and its localization method and system - Google Patents

Capsule endoscope and its localization method and system Download PDF

Info

Publication number
CN109620104A
CN109620104A CN201910021483.6A CN201910021483A CN109620104A CN 109620104 A CN109620104 A CN 109620104A CN 201910021483 A CN201910021483 A CN 201910021483A CN 109620104 A CN109620104 A CN 109620104A
Authority
CN
China
Prior art keywords
capsule endoscope
magnetic
magnetic field
driving magnet
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910021483.6A
Other languages
Chinese (zh)
Other versions
CN109620104B (en
Inventor
王东远
胡进
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Fufu Medical Technology Co Ltd
Original Assignee
Shenzhen Fufu Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Fufu Medical Technology Co Ltd filed Critical Shenzhen Fufu Medical Technology Co Ltd
Priority to CN201910021483.6A priority Critical patent/CN109620104B/en
Priority to PCT/CN2019/079528 priority patent/WO2020143118A1/en
Publication of CN109620104A publication Critical patent/CN109620104A/en
Application granted granted Critical
Publication of CN109620104B publication Critical patent/CN109620104B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00158Holding or positioning arrangements using magnetic field
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments 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
    • A61B1/041Capsule endoscopes for imaging

Abstract

The present invention is suitable for three-dimensional localization techniques field, provide a kind of capsule endoscope and its localization method and system, Magnetic Sensor and capsule endoscope internal magnets are equipped with inside capsule endoscope, magnetic-field measurement is carried out by the Magnetic Sensor driving magnet mobile to driving capsule endoscope, obtain the measured magnetic field of driving magnet, measure the spin angle of capsule endoscope, obtain the measured value of the spin angle of capsule endoscope, measured magnetic field according to driving magnet, free angle measurement, default driving magnetic field model and default optimization algorithm, calculate posture information of the capsule endoscope with respect to driving magnet, according to driving magnet world coordinate system posture information and capsule endoscope with respect to driving magnet posture information, determine the capsule endoscope in the posture information of world coordinate system, so as to avoid the positioning of capsule endoscope The magnetic field that journey is driven magnet influences, and effectively improves the positional accuracy of capsule endoscope.

Description

Capsule endoscope and its localization method and system
Technical field
The invention belongs to three-dimensional localization techniques field more particularly to a kind of capsule endoscope and its localization method and systems.
Background technique
Capsule endoscope, also known as intelligent capsule type endoscopic system are the endoscope of capsule shape.Built in capsule endoscope There are camera shooting and signal transmitting apparatus, it is oral through subject, image is moved and shoots, in alimentary canal to obtain subject's alimentary canal Internal image.Compared to traditional endoscope, capsule endoscope will not bring wound to subject, not influence the work of subject It is dynamic, it is very convenient.In order to which the more accurate capsule endoscope that must control detects human body alimentary canal system, need to position glue in real time Intracapsular sight glass is in the intracorporal position of people.
Summary of the invention
The embodiment of the present invention provides a kind of capsule endoscope and its localization method and system, it is intended to improve capsule endoscope Positional accuracy.
Magnetic is equipped with the embodiment of the invention provides a kind of localization method of capsule endoscope, inside the capsule endoscope to pass Magnet in sensor and the capsule endoscope, which comprises
Magnetic-field measurement is carried out to the driving magnet for driving the capsule endoscope mobile by the Magnetic Sensor, obtains institute State the measured magnetic field of driving magnet;
The spin angle for measuring the capsule endoscope obtains the measured value of the spin angle of the capsule endoscope;
According to the measured magnetic field of the driving magnet, the measured value of the spin angle, default driving magnetic field model and Default optimization algorithm, calculates the posture information of the relatively described driving magnet of the capsule endoscope;
According to the driving magnet in the posture information of world coordinate system and the relatively described driving magnetic of the capsule endoscope The posture information of body determines the capsule endoscope in the posture information of world coordinate system.
Further, magnetic-field measurement is carried out to the driving magnet for driving the capsule endoscope mobile by Magnetic Sensor The step of, comprising:
The first magnetic field value measured in advance is obtained, first magnetic field value is by driving magnet under the influence of institute State the magnetic field total value of capsule endoscope internal magnets, earth's magnetic field and ambient enviroment magnetic field;
The second magnetic field value is obtained by the Magnetic Sensor measurement, and second magnetic field value is the driving magnet, described The magnetic field total value of capsule endoscope internal magnets, earth's magnetic field and ambient enviroment magnetic field;
According to first magnetic field value and second magnetic field value, the measured magnetic field of the driving magnet is calculated.
Further, the step of calculating the posture information of the relatively described driving magnet of the capsule endoscope, comprising:
According to the driving magnetic field model, the driving magnet measured magnetic field and it is described spin angle measured value, Calculate the magnetic-field measurement error of the driving magnet;
It is minimized, is obtained in the capsule by magnetic-field measurement error of the optimization algorithm to the driving magnet The posture information of the relatively described driving magnet of sight glass.
Further, magnetic-field measurement is carried out to the driving magnet for driving the capsule endoscope mobile by Magnetic Sensor The step of before, the method also includes:
The Magnetic Sensor is obtained at a distance from the capsule endoscope center, and obtains the opposite magnetic of the driving magnet Conductance;
According to dipole model of magnetic, the Magnetic Sensor at a distance from the capsule endoscope center and the driving magnet Relative permeability, construct the driving magnetic field model.
Further, at least two Magnetic Sensors are equipped with inside the capsule endoscope, the Magnetic Sensor is Magnetic sensor.
Further, inertial sensor is equipped with inside the capsule endoscope, the inertial sensor is used to measure institute State the spin angle of capsule endoscope.
The embodiment of the invention also provides a kind of capsule endoscopes, comprising: the magnetic being arranged in the capsule endoscope passes Magnet and spin angle measuring sensor in sensor, capsule endoscope;
The Magnetic Sensor is used to carry out magnetic-field measurement to the driving magnet for driving the capsule endoscope mobile, obtains institute State the measured magnetic field of driving magnet;
The Magnetic Sensor includes the first Magnetic Sensor and the second Magnetic Sensor, first Magnetic Sensor and described second Magnetic Sensor dispersion welding is arranged on the circuit board in the capsule endoscope;
The spin angle measuring sensor is used to measure the spin angle of the capsule endoscope, thus positioning system root According to the measured value of the spin angle obtained from the Magnetic Sensor, calculated in conjunction with default driving magnetic field model and default optimization Method calculates posture information of the capsule endoscope relative to the driving magnet, according to the driving magnet in world coordinates The location information of the posture information of system and the capsule endoscope relative to the driving magnet determines that the capsule endoscope exists The posture information of world coordinate system.
Further, the first time sensor or second magnetic are sensed as magnetic sensor.
Further, the spin angle measuring sensor includes inertial sensor.
Further, the Magnetic Sensor includes the first sensor or described the of two or more dispersions Two sensors.
The embodiment of the invention provides a kind of positioning system, the positioning system is sat for positioning capsule endoscope in the world The posture information of system is marked, the capsule endoscope includes: the Magnetic Sensor being arranged in the capsule endoscope, capsule endoscope In magnet and spin angle measuring sensor;The Magnetic Sensor is used for the driving magnetic for driving the capsule endoscope mobile Body carries out magnetic-field measurement, obtains the measured magnetic field of the driving magnet;The Magnetic Sensor includes the first Magnetic Sensor and the Two Magnetic Sensors, first Magnetic Sensor and second Magnetic Sensor dispersion welding are arranged in the capsule endoscope On circuit board;The spin angle measuring sensor is used to measure the spin angle of the capsule endoscope;
The positioning system includes: receiver and processing unit;
The receiver, for obtaining the measured magnetic field of the driving magnet from the Magnetic Sensor, and from institute State the measured value of the spin angle obtained at spin angle measuring sensor;
The processing unit, for according at the Magnetic Sensor obtain the driving magnet measured magnetic field, with And the measured value according to the spin angle obtained from the spin angle measuring sensor, in conjunction with default driving magnetic field mould Type and default optimization algorithm calculate the posture information of the relatively described driving magnet of the capsule endoscope, according to the driving magnetic Posture information of the body in world coordinate system.
Further, the capsule endoscope includes radio-frequency module, first Magnetic Sensor, second magnetic sensing Device and the spin angle measuring sensor are connect with the radio-frequency module, first Magnetic Sensor and second magnetic sensing The measured magnetic field of the driving magnet is sent to the receiver, the spin angle by the radio-frequency module respectively by device Measurement sensor sends the measured value of the spin angle to the receiver by the radio-frequency module.
Further, the processing unit is also used to the magnetic field according to the driving magnetic field model, the driving magnet The measured value of measured value and the spin angle, calculates the magnetic-field measurement error of the driving magnet;Pass through the optimization algorithm The magnetic-field measurement error of the driving magnet is minimized, the position of the relatively described driving magnet of the capsule endoscope is obtained Appearance information.
Further, the processing unit be also used to obtain the Magnetic Sensor and the capsule endoscope center away from From, and obtain the relative permeability of the driving magnet;According to being peeped in dipole model of magnetic, the Magnetic Sensor and the capsule The relative permeability of the distance at mirror center and the driving magnet constructs the driving magnetic field model.
The embodiment of the present invention also provides the positioning system that a kind of pair of capsule endoscope is positioned, in the capsule endoscope Portion is equipped with the magnet in Magnetic Sensor and the capsule endoscope, and the positioning system includes:
Magnetic field measurement unit, for carrying out magnetic to the driving magnet for driving the capsule endoscope mobile by Magnetic Sensor Field measurement obtains the measured magnetic field of the driving magnet;
Spin measurement unit obtains the capsule endoscope oneself for measuring the spin angle of the capsule endoscope The measured value of swing angle degree;
Relative pose computing unit, the measurement for measured magnetic field, the spin angle according to the driving magnet Value, default driving magnetic field model and default optimization algorithm calculate the pose letter of the relatively described driving magnet of the capsule endoscope Breath;And
Capsule pose determination unit, for according to the driving magnet in world coordinate system posture information and the capsule The posture information of the relatively described driving magnet of endoscope, determines the capsule endoscope in the posture information of world coordinate system.
Further, the magnetic field measurement unit includes:
First magnetic field value acquiring unit, for obtaining the first magnetic field value measured in advance, first magnetic field value is not The capsule endoscope internal magnets, the magnetic field total value in earth's magnetic field and ambient enviroment magnetic field under the influence of by the driving magnet;
Second magnetic field value measuring unit, for obtaining the second magnetic field value, second magnetic by the Magnetic Sensor measurement Field value is the driving magnet, the capsule endoscope internal magnets, the magnetic field total value in earth's magnetic field and ambient enviroment magnetic field;And
Magnetic field value computing unit, for calculating the driving magnetic according to first magnetic field value and second magnetic field value The measured magnetic field of body.
Further, the relative pose computing unit includes:
Error calculation unit, for measured magnetic field according to the driving magnet model, the driving magnet and described The measured value for the angle that spins, calculates the magnetic-field measurement error of the driving magnet;And
Error minimization unit, for being carried out most by magnetic-field measurement error of the optimization algorithm to the driving magnet Smallization obtains the posture information of the relatively described driving magnet of the capsule endoscope.
Further, the positioning system further include:
Parameter acquiring unit for obtaining the Magnetic Sensor at a distance from the capsule endoscope center, and obtains institute State the relative permeability of driving magnet;And
Magnetic field model construction unit, for according in dipole model of magnetic, the Magnetic Sensor and the capsule endoscope The relative permeability of the distance of the heart and the driving magnet constructs the driving magnetic field model.
The present invention carries out magnetic-field measurement to driving magnet by Magnetic Sensor, obtains the measured magnetic field of driving magnet, together When measure the spin angle of capsule endoscope, obtain the measured value of the spin angle of capsule endoscope, according to measured magnetic field, oneself The measured value of swing angle degree, default driving magnetic field model and default optimization algorithm calculate position of the capsule endoscope with respect to driving magnet Appearance information, then capsule endoscope is obtained in the pose of world coordinate system in the posture information of world coordinate system according to driving magnet Information, thus according to the measured magnetic field of driving magnet, driving magnetic field model, spin angle measured value and optimization algorithm, it is right Capsule endoscope is positioned, and the position fixing process for avoiding capsule endoscope is driven the magnetic field influence of magnet, and improves capsule The positional accuracy of endoscope.
Detailed description of the invention
Fig. 1 is a kind of implementation flow chart of the localization method for capsule endoscope that the embodiment of the present invention one provides;
Fig. 2 is three axis direction of inertial sensor in a kind of localization method for capsule endoscope that the embodiment of the present invention one provides Exemplary diagram;
Fig. 3 is a kind of implementation flow chart of the localization method of capsule endoscope provided by Embodiment 2 of the present invention;
Fig. 4 is a kind of structural schematic diagram for capsule endoscope that the embodiment of the present invention three provides;
Fig. 5 is a kind of structural schematic diagram for positioning system that the embodiment of the present invention four provides;
Fig. 6 is a kind of preferred structure schematic diagram for positioning system that the embodiment of the present invention four provides;
Fig. 7 is the structural representation for the positioning system that a kind of pair of capsule endoscope that the embodiment of the present invention five provides is positioned Figure;And
Fig. 8 is the preferred structure for the positioning system that a kind of pair of capsule endoscope that the embodiment of the present invention five provides is positioned Schematic diagram.
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.
Currently, positioning method mainly has optical alignment, ultrasonic wave positioning, ray localization and magnetic orientation, optical alignment uncomfortable For positioning in vivo, ultrasonic wave positioning accuracy is not high, and ray localization has radiativity.Small magnet is equipped in capsule endoscope, Big magnet is equipped in the magnetic control system of human external, big magnet and small magnet are all permanent magnets, and big magnet is as in magnetic control system Driving magnet, for providing driving magnetic field, capsule endoscope moves in digestion under the driving of driving magnetic field. In current magnetic orientation technology, by measuring the changes of magnetic field of small magnet, to obtain the position of capsule endoscope, however, big magnetic Body magnetic field strength is big, can the magnetic field strength measurement to small magnet impact, cause capsule endoscope positional accuracy not high.? In the present invention, by measuring the magnetic field of driving magnet, and spin angle and optimization according to driving magnetic field model, capsule endoscope Algorithm determines the posture information of capsule endoscope, is effectively prevented from influence of the driving magnetic field to positional accuracy, improves in capsule The positional accuracy of sight glass.
Embodiment one
Fig. 1 shows a kind of implementation process of the localization method of capsule endoscope of the offer of the embodiment of the present invention one, in order to Convenient for explanation, only parts related to embodiments of the present invention are shown, and details are as follows:
In step s101, magnetic-field measurement is carried out by the Magnetic Sensor driving magnet mobile to driving capsule endoscope, Obtain the measured magnetic field of driving magnet.
In embodiments of the present invention, the magnet being equipped with inside capsule endoscope in Magnetic Sensor and capsule endoscope, capsule For the driving magnet of external tothe endoscope by interacting between the magnet in capsule endoscope, driving capsule endoscope is mobile. During driving capsule endoscope mobile, need in real time to position capsule endoscope, due to capsule endoscope pose The relative pose between magnet and driving magnet when changing in capsule endoscope is different, capsule endoscope present position Magnetic field can also change.So being surveyed when being positioned to capsule endoscope by the Magnetic Sensor inside capsule endoscope The magnetic field strength of driving magnet is measured, the value measured is the measured magnetic field of driving magnet.
Preferably, inside capsule endoscope be equipped at least two Magnetic Sensors, with by multiple Magnetic Sensors simultaneously into Row measurement, the accuracy of Lai Tigao driving magnet magnetic-field measurement.As illustratively, the measured magnetic field of driving magnet is represented by Vl, wherein l indicates first of Magnetic Sensor.
When being equipped at least two Magnetic Sensors inside capsule endoscope, it is preferable that Magnetic Sensor is in capsule endoscope The dispersion of portion position, Magnetic Sensor separate arrangement with the magnet inside capsule endoscope and apart from fixation, the magnetic of single Magnetic Sensor Field measurement range is greater than or equal to the magnetic field strength superposition value of two magnets inside capsule endoscope, to improve the benefit of Magnetic Sensor With rate and measurement effect.
It is further preferred that Magnetic Sensor is magnetic sensor, the magnetic field in three measurement axis directions can be measured Intensity, to improve the measurement effect of Magnetic Sensor.
In step s 102, the spin angle for measuring capsule endoscope obtains the measurement of the spin angle of capsule endoscope Value.
In embodiments of the present invention, after the measured magnetic field for obtaining driving magnet, since the position of capsule endoscope is Three-dimensional position includes three degree of freedom, the posture of capsule endoscope is the posture of three-dimensional space, also includes three degree of freedom, For the subsequent posture information (position and posture) that can more accurately determine capsule endoscope, that is, determine 6 freedom degrees Value, needs to measure the spin angle of capsule endoscope.Glue can be measured by the spin angle measuring sensor in capsule endoscope The spin angle of intracapsular sight glass.
Preferably, it is equipped with inertial sensor inside capsule endoscope, capsule endoscope is measured by inertial sensor Spin angle, with improve capsule endoscope spin angle accuracy of measurement.
Specifically, inertial sensor includes linear acceleration transducer and gyroscope.
When the linear acceleration transducer in inertial sensor is three axes acceleration sensors and three-axis gyroscope, such as scheme Shown in 2, ax, ay, az respectively indicate three measurement axis of three axes acceleration sensors, and ω x, ω y, ω z respectively indicate three axis Three measurement axis of gyroscope, az, ω z direction be H0Direction, acc are the linear acceleration that inertial sensor is subject to, and θ is capsule The spin angle of endoscope,Angle between az and acc.The component that three axes acceleration sensors measure on axis at three It is respectively as follows: And then the measured value for acquiring the spin angle of capsule endoscope is θ=arctan (- accy/accx).By in inertial sensor Three-axis gyroscope is come the formula for calculating the measured value of the spin angle of capsule endoscopeWherein, N is Three-axis gyroscope measures the number of data, and dt is the data acquisition intervals of three-axis gyroscope, ωziIt measures for ω z and is measured on axis The angular rate data point of capsule endoscope spin.It, can be single when using the spin angle of inertial sensor measurement capsule endoscope Linear acceleration transducer or gyroscope are solely used, can also be measured together in conjunction with the two, wherein linear acceleration transducer is three axis Linear acceleration transducer, gyroscope measure the quantity of axis with no restriction.After the measured value θ that spin angle is calculated, need to count The coordinate conversion relation R (θ) for calculating the measured value θ about spin angle, according to the axial direction of Magnetic Sensor and the axis of inertial sensor To, the expression shape of R (θ) can be varied, when the axial direction of Magnetic Sensor is identical as the axial direction of inertial sensor, i.e. Magnetic Sensor Axial Bx, By, Bz respectively correspond the axial ax (or ω x) of inertial sensor, ay (or ω y), az (or wz), can be obtained about The coordinate conversion relation R (θ) of the measured value θ for the angle that spins are as follows:
Wherein, R (θ) is for the subsequent position for solving capsule endoscope six-freedom degree Appearance information.
In step s 103, according to the measured magnetic field of driving magnet, the measured value for the angle that spins, default driving magnetic field mould Type and default optimization algorithm calculate posture information of the capsule endoscope with respect to driving magnet.
In embodiments of the present invention, driving magnetic field model is constructed in advance, according to driving magnetic field model, the magnetic field of driving magnet The measured value of measured value and spin angle, to calculate the magnetic-field measurement error of driving magnet, by optimization algorithm to magnetic-field measurement Error is minimized, and posture information of the capsule endoscope relative to driving magnet can be calculated.
Preferably, when constructing driving magnetic field model, each Magnetic Sensor (x at a distance from capsule endoscope center is obtainedl, yl,zl)T, obtain the relative permeability μ of driving magnetr, dipole model of magnetic operation effect with higher in magnetic orientation operation Rate is well suited for positioning in real time, according to these parameters and dipole model of magnetic obtained, constructs driving magnetic field model, driving magnetic field Model is expressed as:
Wherein, capsule endoscope center is opposite with driving magnet center Position is (a, b, c)T, the relative attitude at capsule endoscope center and driving magnet center is H0=(m, n, p)T, PlIndicate l A Magnetic Sensor is at a distance from driving magnet center and Pl=(xl-a,yl-b,zl-c)T, RlFor PlMould, Existence restraint condition m2+ n2+p2=1, μ0For space permeability, MTFor the constant for characterizing magnets magnetic fields intensity, BlFor the magnetic field model value of driving magnetic field.It asks Solve posture information of the capsule endoscope with respect to driving magnet, i.e. solution (a, b, c)TAnd H0=(m, n, p)T
In the measured value of the measured magnetic field according to driving magnetic field model, driving magnet and the angle that spins, driving magnetic is calculated When the magnetic-field measurement error E rr of body, it is further preferred that magnetic-field measurement error is expressed as:
It is accurate with the calculating for improving magnetic-field measurement error Degree, and the posture information that capsule endoscope can be calculated with respect to driving magnet by minimizing the error process.By excellent When change algorithm minimizes magnetic-field measurement error, it is further preferred that optimization algorithm uses nonlinear least square method-LM Algorithm or intelligent algorithm-PSO algorithm, to improve the minimum effect of magnetic-field measurement error.
In step S104, posture information and capsule endoscope according to driving magnet in world coordinate system drive magnetic relatively The posture information of body determines capsule endoscope in the posture information of world coordinate system.
In embodiments of the present invention, driving magnet is known in the posture information (position and posture) of world coordinate system, Obtain capsule endoscope with respect to driving magnet posture information, can according to driving magnet world coordinate system posture information Posture information with capsule endoscope with respect to driving magnet, is converted to capsule endoscope in the posture information of world coordinate system, Complete the positioning to capsule endoscope.
Preferably, capsule endoscope model is established in host user interface, according to the position for the capsule endoscope that positioning obtains Appearance information refreshes the posture information of capsule endoscope model, when receiving the subsequent time posture information of user's input, can lead to The position and attitude for crossing adjustment driving magnet generates magnetic force, so that capsule endoscope motion is to the position in subsequent time posture information And posture improves user experience to realize the human-computer interaction process of capsule endoscope positioning and movement.In addition, when in capsule When sight glass moves to position and posture in subsequent time posture information, according to the posture information of capsule endoscope Real-time Feedback, The pose of capsule endoscope is constantly adjusted, to balance the stress of capsule endoscope, is suspended so that capsule endoscope is realized.
In embodiments of the present invention, by measuring the magnetic field of driving magnet, the spin angle of capsule endoscope, foundation are measured The measured value and optimization algorithm of the spin angle of driving magnetic field model, the measured magnetic field of driving magnet, capsule endoscope, to drive The magnetic-field measurement error of dynamic magnet is minimized, to determine the posture information of capsule endoscope, to be effectively prevented from driving Influence of the magnetic field to positional accuracy, improves the positional accuracy of capsule endoscope.
Embodiment two
Fig. 3 shows a kind of implementation process of the localization method of capsule endoscope provided by Embodiment 2 of the present invention, in order to Convenient for explanation, only parts related to embodiments of the present invention are shown, and details are as follows:
In step S301, the first magnetic field value measured in advance is obtained.
In embodiments of the present invention, at the magnetic field of not driving magnet, (capsule endoscope is located at the magnetic of driving magnet When except the range of field), the first magnetic field value is measured by the Magnetic Sensor inside capsule endoscope, the first magnetic field value is to peep in capsule The magnetic field total value of magnet, earth's magnetic field and ambient enviroment magnetic field in mirror, ambient enviroment magnetic field are capsule endoscope surrounding devices (example Such as mobile phone, the apparatus such as computer of some Medical Devices or user) magnetic field, do not include the magnetic field of driving magnet.Wherein, exist When not considering ambient enviroment changes of magnetic field, the first magnetic field value is fixed value.
In step s 302, the second magnetic field value is obtained by Magnetic Sensor measurement.
In embodiments of the present invention, when driving magnet driving capsule endoscope is mobile, capsule endoscope is located at driving magnetic In the magnetic field range of body, the second magnetic field value is measured by the Magnetic Sensor inside capsule endoscope, the second magnetic field value is driving magnetic Body, capsule endoscope internal magnets, earth's magnetic field and the magnetic field total value in ambient enviroment magnetic field.
In step S303, according to the first magnetic field value and the second magnetic field value, the measured magnetic field of driving magnet is calculated.
In embodiments of the present invention, the first magnetic field value is magnet, earth's magnetic field and the ambient enviroment magnetic field in capsule endoscope Magnetic field total value, the second magnetic field value be driving magnet, capsule endoscope internal magnets, earth's magnetic field and the magnetic field in ambient enviroment magnetic field Total value, therefore the measured magnetic field V of driving magnet can be calculated by the way that the second magnetic field value is subtracted the first magnetic field valuel
Preferably, the measured magnetic field V of driving magnetlCalculation formula are as follows:
Vl=Vl1-Vl0, wherein Vl0For the first magnetic field value that first of Magnetic Sensor measures, Vl1For first of Magnetic Sensor The second magnetic field value measured.
In step s 304, the spin angle for measuring capsule endoscope obtains the measurement of the spin angle of capsule endoscope Value.
In step S305, according to the measured magnetic field of driving magnet, the measured value for the angle that spins, default driving magnetic field mould Type and default optimization algorithm calculate posture information of the capsule endoscope with respect to driving magnet.
In step S306, posture information and capsule endoscope according to driving magnet in world coordinate system drive magnetic relatively The posture information of body determines capsule endoscope in the posture information of world coordinate system.
In embodiments of the present invention, the detailed content of step S304 to step S306 can refer to a kind of step S102 of embodiment To the description of step S104, details are not described herein.
In kind of the embodiment of the present invention, in the absence of in the presence of acquisition driving magnet magnetic field and driving magnet magnetic field, glue The measured magnetic field of driving magnet is calculated in the measured value that Magnetic Sensor measures respectively inside intracapsular sight glass, according to driving The measured value and optimization algorithm of the spin angle of magnetic field model, the measured magnetic field of driving magnet, capsule endoscope, to driving magnetic The magnetic-field measurement error of body is minimized, and the posture information of capsule endoscope is obtained, without relying in capsule endoscope The measured magnetic field of portion's magnet realizes the positioning of capsule endoscope, is effectively prevented from driving magnetic field to the shadow of positional accuracy It rings, improves the positional accuracy of capsule endoscope.
Embodiment three
Fig. 4 shows a kind of capsule endoscope 40 of the offer of the embodiment of the present invention three, which is suitable for upper State the localization method of the capsule endoscope shown in embodiment one and embodiment two.For ease of description, it only shows and present invention reality Apply the relevant part of example.
In embodiments of the present invention, capsule endoscope 40 includes Magnetic Sensor 41, the capsule being set in capsule endoscope Magnet 42 and spin angle measuring sensor 43 in endoscope.Wherein:
Magnetic Sensor 41 is used for the driving magnet mobile to driving capsule endoscope 40 and measures, and obtains driving magnet Measured magnetic field, Magnetic Sensor 41 include the first Magnetic Sensor 411 and the second Magnetic Sensor 412, the first Magnetic Sensor 411 and the The dispersion welding of two Magnetic Sensors 412 is arranged on the circuit board of capsule endoscope 40;
Spin angle measuring sensor 43 is used to measure the spin angle of capsule endoscope 40.
In embodiments of the present invention, the positioning system for being positioned to capsule endoscope 40 is according to from Magnetic Sensor 41 The measured magnetic field for the driving magnet that place is got, and according to the spin angle obtained from spin angle measuring sensor 43 Measured value calculate position of the capsule endoscope 40 with respect to driving magnet in conjunction with default driving magnetic field model and default optimization algorithm Appearance information, location information and capsule endoscope 40 according to driving magnet in world coordinate system are believed with respect to the pose of driving magnet Breath, determines capsule endoscope 40 in the posture information of world coordinate system.Wherein, in driving magnetic field model, optimization algorithm and capsule Sight glass 40 can refer to the description of one corresponding steps of embodiment with respect to the calculating process of the posture information of driving magnet, no longer superfluous herein It states.
In embodiments of the present invention, the first Magnetic Sensor 411 and the dispersion welding of the second Magnetic Sensor 412 are arranged in capsule On the circuit board of sight glass 40, to measure the magnetic field value at 40 inside different location of capsule endoscope simultaneously, and then to capsule The magnetic field of the driving magnet obtained respectively when endoscope 40 is positioned according to first sensor 411 and second sensor 412 is surveyed Magnitude is positioned, and the positional accuracy of capsule endoscope 40 is improved.Preferably, Magnetic Sensor 41 includes two or more The first sensor 411 and second sensor 412 of dispersion, to be measured in capsule by the Magnetic Sensor 41 of multiple dispersions Magnetic field value at 40 inside different location of sight glass improves the positional accuracy of capsule endoscope 40.Wherein, the magnetic field of driving magnet The acquisition process of measured value can refer to the detailed description of two corresponding steps of embodiment one and embodiment, and details are not described herein.
Preferably, the first Magnetic Sensor 411 or the second Magnetic Sensor 412 are magnetic sensor, can measure three The magnetic field value in axis direction is measured, what the magnetic field value and spin angle measuring sensor 43 for measuring axis direction in conjunction with three measured The positioning to 40 pose of capsule endoscope (six-freedom degree) may be implemented in the spin angle of capsule endoscope 40.
Preferably, spin angle measuring sensor 43 includes inertial sensor, is measured in capsule by inertial sensor The spin angle of sight glass 40, to improve the accuracy of measurement of the spin angle of capsule endoscope 40.In addition, spin angle measurement sensing Device 43 can also be linear acceleration transducer and/or gyroscope.Further, linear acceleration transducer is three axis accelerometers sensing Device.
Preferably, radio-frequency module, radio-frequency module and the first Magnetic Sensor 411, the second magnetic are additionally provided in capsule endoscope 40 Sensor 412 and spin angle measuring sensor 43 connect, for dividing the first Magnetic Sensor 411 and the second Magnetic Sensor 412 The measured magnetic field for the driving magnetic field not measured is sent, and will be spinned in the capsule that angle measuring sensor 43 measures The measured value of the spin angle of sight glass 40 is sent, so that the processor that the external world is connect with capsule endoscope 40 can be in time to this A little measurement data are handled.It, can also be by can be realized other communication module (examples of data communication in addition to radio-frequency module Such as bluetooth module) it realizes.
In embodiments of the present invention, capsule endoscope includes the Magnetic Sensor being set in capsule endoscope, peeps in capsule Magnet and spin angle measuring sensor, driving magnet in mirror interact with the magnet in capsule endoscope, drive capsule Endoscope is mobile, the spin in the driving magnetic field measured value that obtains according to the Magnetic Sensor in capsule endoscope, capsule endoscope The measured value for the spin angle that angle measuring sensor obtains, in conjunction with default driving magnetic field model and default optimization algorithm, realization Positioning to capsule endoscope, and improve the locating effect of capsule endoscope.
Example IV
Fig. 5 shows a kind of structure of positioning system 50 of the offer of the embodiment of the present invention four, and the positioning system 50 is for fixed Capsule endoscope in the embodiment three of position illustrates only and the present invention for ease of description in the posture information of world coordinate system The relevant part of embodiment.Wherein, positioning system 50 includes: receiver 51 and processing unit 52;
Receiver 51, for from Magnetic Sensor obtain driving magnet measured magnetic field, and from spin angle measurement The measured value of the spin angle obtained at sensor;
Processing unit 52, for the measured magnetic field according to the driving magnet got from Magnetic Sensor, and according to The measured value of the spin angle obtained from spin angle measuring sensor is calculated in conjunction with default driving magnetic field model and default optimization Method, calculate capsule endoscope with respect to driving magnet posture information, according to driving magnet world coordinate system posture information with Capsule endoscope determines capsule endoscope in the posture information of world coordinate system with respect to the posture information of driving magnet.
In embodiments of the present invention, processing unit 52 is also used to obtain Magnetic Sensor at a distance from capsule endoscope center, And obtain the relative permeability of driving magnet, according to dipole model of magnetic, Magnetic Sensor at a distance from capsule endoscope center and The relative permeability of driving magnet constructs driving magnetic field model.Specific building process can refer to one corresponding steps of embodiment Detailed description, details are not described herein.
In embodiments of the present invention, processing unit 52 is also used to the magnetic-field measurement according to driving magnetic field model, driving magnet The measured value of value and spin angle, calculates the magnetic-field measurement error of driving magnet;By optimization algorithm to the magnetic field of driving magnet Measurement error is minimized, and posture information of the capsule endoscope with respect to driving magnet is obtained.Specific calculating process can refer to The detailed description of one corresponding steps of embodiment, details are not described herein.
Preferably, as shown in fig. 6, positioning system 50 further includes the capsule endoscope 40 in embodiment three, positioning system 50 For positioning the pose of capsule endoscope 40 in real time, wherein including in Magnetic Sensor 41, capsule endoscope in capsule endoscope 40 Magnet 42 and spin angle measuring sensor 43.Multiple first Magnetic Sensors 411 and multiple can be equipped in capsule endoscope 40 Second Magnetic Sensor 412.
Preferably, as shown in fig. 6, being additionally provided with radio-frequency module in capsule endoscope 40, radio-frequency module and the first Magnetic Sensor 411, the second Magnetic Sensor 412 and spin angle measuring sensor 43 connect, for passing the first Magnetic Sensor 411 and the second magnetic The measured magnetic field for the driving magnetic field that sensor 412 measures respectively is sent to the receiver 51 of positioning system 50, and by spin angle The measured value for the spin angle of capsule endoscope 40 that degree measurement sensor 43 measures is sent to the receiver 51 of positioning system 50, The positioning to capsule endoscope 40 is realized with aided positioning system 50.It, can also be by can be realized number in addition to radio-frequency module It is realized according to other communication modules (such as bluetooth module) of communication.
In embodiments of the present invention, the receiver in positioning system receives the magnetic field for the driving magnet that capsule endoscope is sent The measured value of measured value and capsule endoscope spin angle, by the measured magnetic field of processing unit foundation driving magnet, capsule The measured value of sight glass spin angle, in conjunction with default driving magnetic field model, default optimization algorithm and driving magnet in world coordinate system In posture information, determine capsule endoscope in the posture information of world coordinate system, to realize the positioning to capsule endoscope, And improve the accuracy of capsule endoscope positioning.
Embodiment five
The knot for the positioning system that a kind of pair of capsule endoscope that Fig. 7 shows the offer of the embodiment of the present invention five is positioned Structure, for ease of description, only parts related to embodiments of the present invention are shown, including:
Magnetic field measurement unit 71, for carrying out magnetic field by the Magnetic Sensor driving magnet mobile to driving capsule endoscope Measurement, obtains the measured magnetic field of driving magnet.
In embodiments of the present invention, the magnet being equipped with inside capsule endoscope in Magnetic Sensor and capsule endoscope, capsule For the driving magnet of external tothe endoscope by interacting between the magnet in capsule endoscope, driving capsule endoscope is mobile. During driving capsule endoscope mobile, need in real time to position capsule endoscope, due to capsule endoscope pose The relative pose between magnet and driving magnet when changing in capsule endoscope is different, capsule endoscope present position Magnetic field can also change.So being sensed when being positioned to capsule endoscope by all magnetic inside capsule endoscope Device realizes the measurement to driving magnet magnetic field strength, and the value measured is the measured magnetic field of driving magnet.
Preferably, inside capsule endoscope be equipped at least two Magnetic Sensors, with by multiple Magnetic Sensors simultaneously into Row measurement, the accuracy of Lai Tigao driving magnet magnetic-field measurement.As illustratively, the measured magnetic field of driving magnet is represented by Vl, wherein l indicates first of Magnetic Sensor.
When being equipped at least two Magnetic Sensors inside capsule endoscope, it is preferable that Magnetic Sensor is in capsule endoscope The dispersion of portion position, Magnetic Sensor separate arrangement with the magnet inside capsule endoscope and apart from fixation, the magnetic of single Magnetic Sensor Field measurement range is greater than or equal to the magnetic field strength superposition value of two magnets inside capsule endoscope, to improve the benefit of Magnetic Sensor With rate and measurement effect.
It is further preferred that Magnetic Sensor is magnetic sensor, the magnetic field in three measurement axis directions can be measured Intensity, to improve the measurement effect of Magnetic Sensor.
Spin measurement unit 72 obtains the spin angle of capsule endoscope for measuring the spin angle of capsule endoscope Measured value.
In embodiments of the present invention, after the measured magnetic field for obtaining driving magnet, since the position of capsule endoscope is Three-dimensional position includes three degree of freedom, the posture of capsule endoscope is the posture of three-dimensional space, also includes three degree of freedom, For the subsequent posture information (position and posture) that can determine capsule endoscope, in order to determine the value of 6 freedom degrees, Need to measure the spin angle of capsule endoscope.It can be realized by the spin angle measuring sensor in capsule endoscope to capsule The measurement of endoscope spin angle.
Preferably, it is equipped with inertial sensor inside capsule endoscope, capsule endoscope is measured by inertial sensor Spin angle, with improve capsule endoscope spin angle accuracy of measurement.
Specifically, inertial sensor includes linear acceleration transducer and gyroscope.
When the linear acceleration transducer in inertial sensor is three axes acceleration sensors and three-axis gyroscope, such as scheme Shown in 2, ax, ay, az respectively indicate three measurement axis of three axes acceleration sensors, and ω x, ω y, ω z respectively indicate three axis Three measurement axis of gyroscope, az, ω z direction be H0Direction, acc are the linear acceleration that inertial sensor is subject to, and θ is capsule The spin angle of endoscope,Angle between az and acc.The component that three axes acceleration sensors measure on axis at three It is respectively as follows: And then the measured value for acquiring the spin angle of capsule endoscope is θ=arctan (- accy/accx).By in inertial sensor Three-axis gyroscope is come the formula for calculating the measured value of the spin angle of capsule endoscopeWherein, N is Three-axis gyroscope measures the number of data, and dt is the data acquisition intervals of three-axis gyroscope, ωziIt measures for ω z and is measured on axis The angular rate data point of capsule endoscope spin.It, can be single when using the spin angle of inertial sensor measurement capsule endoscope Three axes acceleration sensors or three-axis gyroscope are solely used, can also be measured together in conjunction with the two, wherein linear acceleration sensing Device is three axes acceleration sensors, and gyroscope measures the quantity of axis with no restriction.In the measured value θ that spin angle is calculated Afterwards, the coordinate conversion relation R (θ) of the measured value θ about spin angle, axial direction and inertia sensing according to Magnetic Sensor need to be calculated The expression shape of the axial direction of device, R (θ) can be varied, when the axial direction of Magnetic Sensor is identical as the axial direction of inertial sensor, i.e. magnetic Axial Bx, By, Bz of sensor respectively correspond the axial ax (or ω x) of inertial sensor, ay (or ω y), az (or wz), can obtain To the coordinate conversion relation R (θ) of the measured value θ about spin angle are as follows:
Wherein, R (θ) is for the subsequent position for solving capsule endoscope six-freedom degree Appearance information.
Relative pose computing unit 73, the measured value, default for measured magnetic field, the angle that spins according to driving magnet Driving magnetic field model and default optimization algorithm calculate posture information of the capsule endoscope with respect to driving magnet.
In embodiments of the present invention, driving magnetic field model is constructed in advance, according to driving magnetic field model, the magnetic field of driving magnet The measured value of measured value and spin angle, to calculate the magnetic-field measurement error of driving magnet, by optimization algorithm to magnetic-field measurement Error is minimized, and posture information of the capsule endoscope relative to driving magnet can be calculated.Wherein, driving magnetic field model Calculating (calculating and minimum including magnetic-field measurement error relative to the posture information of driving magnet of building and capsule endoscope Change process) it is executed by the processing unit in positioning system.
Preferably, when constructing driving magnetic field model, each Magnetic Sensor (x at a distance from capsule endoscope center is obtainedl, yl,zl)T, obtain the relative permeability μ of driving magnetr, dipole model of magnetic operation effect with higher in magnetic orientation operation Rate is well suited for positioning in real time, therefore constructs driving magnetic field model according to these parameters and dipole model of magnetic obtained again, drives Moving field model is expressed as:
Wherein, capsule endoscope center is opposite with driving magnet center Position is (a, b, c)T, the relative attitude at capsule endoscope center and driving magnet center is H0=(m, n, p)T, PlIndicate l A Magnetic Sensor is at a distance from driving magnet center and Pl=(xl-a,yl-b,zl-c)T, RlFor PlMould, Existence restraint condition m2+ n2+p2=1, μ0For space permeability, MTFor the constant for characterizing magnets magnetic fields intensity, BlFor the magnetic field model value of driving magnetic field.It asks Solve posture information of the capsule endoscope with respect to driving magnet, i.e. solution (a, b, c)TAnd H0=(m, n, p)T
In the measured value of the measured magnetic field according to driving magnetic field model, driving magnet and the angle that spins, driving magnetic is calculated When the magnetic-field measurement error E rr of body, it is further preferred that magnetic-field measurement error is expressed as:
It is accurate with the calculating for improving magnetic-field measurement error Degree, and the posture information that capsule endoscope can be calculated with respect to driving magnet by minimizing the error process.By excellent When change algorithm minimizes magnetic-field measurement error, it is further preferred that optimization algorithm uses nonlinear least square method-LM Algorithm or intelligent algorithm-PSO algorithm, to improve the minimum effect of magnetic-field measurement error.
Capsule pose determination unit 74, for according to driving magnet world coordinate system posture information and capsule endoscope The posture information of opposite driving magnet, determines capsule endoscope in the posture information of world coordinate system.
In embodiments of the present invention, driving magnet is known in the posture information (position and posture) of world coordinate system, Obtain capsule endoscope with respect to driving magnet posture information, can according to driving magnet world coordinate system posture information Posture information with capsule endoscope with respect to driving magnet, is converted to capsule endoscope in the posture information of world coordinate system, Complete the positioning to capsule endoscope.
Preferably, capsule endoscope model is established in host user interface, according to the position for the capsule endoscope that positioning obtains Appearance information refreshes the posture information of capsule endoscope model, when receiving the subsequent time posture information of user's input, can lead to The position and attitude for crossing adjustment driving magnet generates magnetic force, so that capsule endoscope motion is to the position in subsequent time posture information And posture improves user experience to realize the human-computer interaction process of capsule endoscope positioning and movement.In addition, when in capsule When sight glass moves to position and posture in subsequent time posture information, according to the posture information of capsule endoscope Real-time Feedback, The pose of capsule endoscope is constantly adjusted, to balance the stress of capsule endoscope, is suspended so that capsule endoscope is realized.
Preferably, as shown in figure 8, magnetic field measurement unit 71 includes:
First magnetic field value acquiring unit 711, for obtaining the first magnetic field value measured in advance, the first magnetic field value be not by The magnetic field total value of capsule endoscope internal magnets, earth's magnetic field and ambient enviroment magnetic field under the influence of driving magnet;
Second magnetic field value measuring unit 712, for obtaining the second magnetic field value by Magnetic Sensor measurement, the second magnetic field value is Driving magnet, capsule endoscope internal magnets, earth's magnetic field and the magnetic field total value in ambient enviroment magnetic field;And
Magnetic field value computing unit 713, for according to the first magnetic field value and the second magnetic field value, the magnetic field for calculating driving magnet to be surveyed Magnitude.
In embodiments of the present invention, at the magnetic field of not driving magnet, (capsule endoscope is located at the magnetic of driving magnet When except the range of field), the first magnetic field value is measured by the Magnetic Sensor inside capsule endoscope, the first magnetic field value is to peep in capsule The magnetic field total value of magnet, earth's magnetic field and ambient enviroment magnetic field in mirror, ambient enviroment magnetic field are capsule endoscope surrounding devices Magnetic field does not include the magnetic field of driving magnet.Wherein, when not considering ambient enviroment changes of magnetic field, the first magnetic field value is fixed value.
In embodiments of the present invention, when driving magnet driving capsule endoscope is mobile, capsule endoscope is located at driving magnetic In the magnetic field range of body, the second magnetic field value is measured by the Magnetic Sensor inside capsule endoscope, the second magnetic field value is driving magnetic Body, capsule endoscope internal magnets, earth's magnetic field and the magnetic field total value in ambient enviroment magnetic field.
In embodiments of the present invention, the first magnetic field value is magnet, earth's magnetic field and the ambient enviroment magnetic field in capsule endoscope Magnetic field total value, the second magnetic field value be driving magnet, capsule endoscope internal magnets, earth's magnetic field and the magnetic field in ambient enviroment magnetic field Total value, therefore the measured magnetic field V of driving magnet can be calculated by the way that the second magnetic field value is subtracted the first magnetic field valuel
Preferably, the measured magnetic field V of driving magnetlCalculation formula are as follows:
Vl=Vl1-Vl0, wherein Vl0For the first magnetic field value that first of Magnetic Sensor measures, Vl1For first of Magnetic Sensor The second magnetic field value measured.
Preferably, as shown in figure 8, relative pose computing unit 73 includes:
Error calculation unit 731, for the measured magnetic field according to driving magnet model, driving magnet and the angle that spins Measured value calculates the magnetic-field measurement error of driving magnet;And
Error minimization unit 732, for being minimized by magnetic-field measurement error of the optimization algorithm to driving magnet, Obtain posture information of the capsule endoscope with respect to driving magnet.
In embodiments of the present invention, error calculation unit 731 and the detailed content of error minimization unit 732 are opposite Pose computing unit 73 is described, and repeats no more.
Preferably, positioning system further include:
Parameter acquiring unit for obtaining Magnetic Sensor at a distance from capsule endoscope center, and obtains driving magnet Relative permeability;And
Magnetic field model construction unit, for according to dipole model of magnetic, Magnetic Sensor at a distance from capsule endoscope center With the relative permeability of driving magnet, driving magnetic field model is constructed.
In embodiments of the present invention, by measuring the magnetic field of driving magnet, the spin angle of capsule endoscope, foundation are measured The measured value and optimization algorithm of the spin angle of driving magnetic field model, the measured magnetic field of driving magnet, capsule endoscope, to drive The magnetic-field measurement error of dynamic magnet is minimized, to determine the posture information of capsule endoscope, to be effectively prevented from driving Influence of the magnetic field to positional accuracy, improves the positional accuracy of capsule endoscope.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (18)

1. a kind of localization method of capsule endoscope, which is characterized in that be equipped with Magnetic Sensor and institute inside the capsule endoscope State the magnet in capsule endoscope, which comprises
Magnetic-field measurement is carried out to the driving magnet for driving the capsule endoscope mobile by the Magnetic Sensor, obtains the drive The measured magnetic field of dynamic magnet;
The spin angle for measuring the capsule endoscope obtains the measured value of the spin angle of the capsule endoscope;
According to the measured magnetic field of the driving magnet, the measured value of the spin angle, default driving magnetic field model and preset Optimization algorithm calculates the posture information of the relatively described driving magnet of the capsule endoscope;
According to the driving magnet in the posture information of world coordinate system and the relatively described driving magnet of the capsule endoscope Posture information determines the capsule endoscope in the posture information of world coordinate system.
2. the method as described in claim 1, which is characterized in that mobile to the driving capsule endoscope by Magnetic Sensor Driving magnet carries out the step of magnetic-field measurement, comprising:
The first magnetic field value measured in advance is obtained, first magnetic field value is glue under the influence of not by the driving magnet Intracapsular sight glass internal magnets, earth's magnetic field and the magnetic field total value in ambient enviroment magnetic field;
The second magnetic field value is obtained by the Magnetic Sensor measurement, second magnetic field value is the driving magnet, the capsule The magnetic field total value of endoscope internal magnets, earth's magnetic field and ambient enviroment magnetic field;
According to first magnetic field value and second magnetic field value, the measured magnetic field of the driving magnet is calculated.
3. the method as described in claim 1, which is characterized in that calculate the position of the relatively described driving magnet of the capsule endoscope The step of appearance information, comprising:
According to the driving magnetic field model, the measured value of the measured magnetic field of the driving magnet and the spin angle, calculate The magnetic-field measurement error of the driving magnet;
It is minimized by magnetic-field measurement error of the optimization algorithm to the driving magnet, obtains the capsule endoscope The posture information of the relatively described driving magnet.
4. the method as described in claim 1, which is characterized in that mobile to the driving capsule endoscope by Magnetic Sensor Before driving magnet carries out the step of magnetic-field measurement, the method also includes:
The Magnetic Sensor is obtained at a distance from the capsule endoscope center, and obtains the relative magnetic permeability of the driving magnet Rate;
According to dipole model of magnetic, the Magnetic Sensor at a distance from the capsule endoscope center and the phase of the driving magnet To magnetic conductivity, the driving magnetic field model is constructed.
5. the method as described in claim 1, which is characterized in that be equipped at least two magnetic inside the capsule endoscope and pass Sensor, the Magnetic Sensor are magnetic sensor.
6. the method as described in claim 1, which is characterized in that inertial sensor is equipped with inside the capsule endoscope, it is described Inertial sensor is used to measure the spin angle of the capsule endoscope.
7. a kind of capsule endoscope characterized by comprising the Magnetic Sensor in the capsule endoscope is arranged in, in capsule Magnet and spin angle measuring sensor in sight glass;
The Magnetic Sensor is used to carry out magnetic-field measurement to the driving magnet for driving the capsule endoscope mobile, obtains the drive The measured magnetic field of dynamic magnet;
The Magnetic Sensor includes the first Magnetic Sensor and the second Magnetic Sensor, and first Magnetic Sensor and second magnetic pass Sensor dispersion welding is arranged on the circuit board in the capsule endoscope;
The spin angle measuring sensor is used to measure the spin angle of the capsule endoscope, thus positioning system according to from The measured magnetic field of the driving magnet got at the Magnetic Sensor, and sensed according to from the spin angle measurement The measured value of the spin angle obtained at device calculates the glue in conjunction with default driving magnetic field model and default optimization algorithm The posture information of the relatively described driving magnet of intracapsular sight glass, according to the driving magnet in the posture information of world coordinate system and institute The posture information for stating the relatively described driving magnet of capsule endoscope determines that the capsule endoscope is believed in the pose of world coordinate system Breath.
8. capsule endoscope as claimed in claim 7, which is characterized in that first Magnetic Sensor or second magnetic sensing Device is magnetic sensor.
9. capsule endoscope as claimed in claim 7 or 8, which is characterized in that the spin angle measuring sensor includes used Property sensor.
10. capsule endoscope as claimed in claim 7, which is characterized in that the Magnetic Sensor includes two or more First Magnetic Sensor of dispersion or the second sensor.
11. a kind of positioning system, which is characterized in that exist for positioning the capsule endoscope as described in any in claim 7-10 The posture information of world coordinate system, the capsule endoscope include: the Magnetic Sensor being arranged in the capsule endoscope, capsule Magnet and spin angle measuring sensor in endoscope;The Magnetic Sensor is used for mobile to the driving capsule endoscope Driving magnet carries out magnetic-field measurement, obtains the measured magnetic field of the driving magnet;The Magnetic Sensor is sensed including the first magnetic Device and the second Magnetic Sensor, first Magnetic Sensor and second Magnetic Sensor dispersion welding setting are peeped in the capsule On circuit board in mirror;The spin angle measuring sensor is used to measure the spin angle of the capsule endoscope;
The positioning system includes: receiver and processing unit;
The receiver, for obtaining the measured magnetic field of the driving magnet from the Magnetic Sensor, and from it is described from Revolve the measured value of the spin angle obtained at angle measuring sensor;
The processing unit, for according to the measured magnetic field of the driving magnet got from the Magnetic Sensor, with And the measured value according to the spin angle obtained from the spin angle measuring sensor, in conjunction with default driving magnetic field mould Type and default optimization algorithm calculate the posture information of the relatively described driving magnet of the capsule endoscope, according to the driving magnetic Body determines the glue in the posture information of the posture information of world coordinate system and the relatively described driving magnet of the capsule endoscope Posture information of the intracapsular sight glass in world coordinate system.
12. positioning system as described in claim 1, which is characterized in that the positioning system further includes such as claim 7-10 In any capsule endoscope, the capsule endoscope includes radio-frequency module, first Magnetic Sensor, second described Magnetic Sensor and the spin angle measuring sensor are connect with the radio-frequency module, first Magnetic Sensor and described second The measured magnetic field of the driving magnet is sent to the receiver by the radio-frequency module respectively by Magnetic Sensor, it is described from Rotation angle measuring sensor sends the measured value of the angle that spins to the receiver by the radio-frequency module.
13. the positioning system as described in claim 11 or 12, which is characterized in that the processing unit is also used to according to the drive The measured value of moving field model, the measured magnetic field of the driving magnet and the spin angle, calculates the driving magnet Magnetic-field measurement error;It is minimized by magnetic-field measurement error of the optimization algorithm to the driving magnet, described in acquisition The posture information of the relatively described driving magnet of capsule endoscope.
14. the positioning system as described in claim 11 or 12, which is characterized in that the processing unit is also used to obtain the magnetic Sensor obtains the relative permeability of the driving magnet at a distance from the capsule endoscope center;According to magnetic dipole Model, the Magnetic Sensor construct institute at a distance from the capsule endoscope center and the relative permeability of the driving magnet State driving magnetic field model.
15. the positioning system that a kind of pair of capsule endoscope is positioned, which is characterized in that be equipped with magnetic inside the capsule endoscope Magnet in sensor and the capsule endoscope, the positioning system include:
Magnetic field measurement unit, for carrying out magnetic field survey to the driving magnet for driving the capsule endoscope mobile by Magnetic Sensor Amount, obtains the measured magnetic field of the driving magnet;
Spin measurement unit obtains the spin angle of the capsule endoscope for measuring the spin angle of the capsule endoscope The measured value of degree;
Relative pose computing unit, the measured value, pre- for measured magnetic field, the spin angle according to the driving magnet If driving magnetic field model and default optimization algorithm calculate the posture information of the relatively described driving magnet of the capsule endoscope;With And
Capsule pose determination unit, for being peeped in the posture information of world coordinate system and the capsule according to the driving magnet The posture information of the relatively described driving magnet of mirror, determines the capsule endoscope in the posture information of world coordinate system.
16. system as claimed in claim 15, which is characterized in that the magnetic field measurement unit includes:
First magnetic field value acquiring unit, for obtaining the first magnetic field value measured in advance, first magnetic field value is by institute State the capsule endoscope internal magnets, earth's magnetic field and the magnetic field total value in ambient enviroment magnetic field under the influence of driving magnet;
Second magnetic field value measuring unit, for obtaining the second magnetic field value, second magnetic field value by the Magnetic Sensor measurement For the driving magnet, the capsule endoscope internal magnets, the magnetic field total value in earth's magnetic field and ambient enviroment magnetic field;And
Magnetic field value computing unit, for calculating the driving magnet according to first magnetic field value and second magnetic field value Measured magnetic field.
17. positioning system as claimed in claim 15, which is characterized in that the relative pose computing unit includes:
Error calculation unit, for according to the driving magnet model, the driving magnet measured magnetic field and the spin The measured value of angle calculates the magnetic-field measurement error of the driving magnet;And
Error minimization unit, it is minimum for being carried out by magnetic-field measurement error of the optimization algorithm to the driving magnet Change, obtains the posture information of the relatively described driving magnet of the capsule endoscope.
18. positioning system as claimed in claim 15, which is characterized in that the positioning system further include:
Parameter acquiring unit for obtaining the Magnetic Sensor at a distance from the capsule endoscope center, and obtains the drive The relative permeability of dynamic magnet;And
Magnetic field model construction unit, for according to dipole model of magnetic, the Magnetic Sensor and the capsule endoscope center The relative permeability of distance and the driving magnet constructs the driving magnetic field model.
CN201910021483.6A 2019-01-10 2019-01-10 Capsule endoscope and positioning method and system thereof Active CN109620104B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201910021483.6A CN109620104B (en) 2019-01-10 2019-01-10 Capsule endoscope and positioning method and system thereof
PCT/CN2019/079528 WO2020143118A1 (en) 2019-01-10 2019-03-25 Capsule endoscope and positioning method and system therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910021483.6A CN109620104B (en) 2019-01-10 2019-01-10 Capsule endoscope and positioning method and system thereof

Publications (2)

Publication Number Publication Date
CN109620104A true CN109620104A (en) 2019-04-16
CN109620104B CN109620104B (en) 2021-04-02

Family

ID=66061058

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910021483.6A Active CN109620104B (en) 2019-01-10 2019-01-10 Capsule endoscope and positioning method and system thereof

Country Status (2)

Country Link
CN (1) CN109620104B (en)
WO (1) WO2020143118A1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111870211A (en) * 2020-07-28 2020-11-03 北京信息科技大学 Three-dimensional endoscope with instrument pose navigation function and navigation method thereof
CN112089389A (en) * 2019-06-17 2020-12-18 深圳硅基智控科技有限公司 Capsule endoscope system with three-dimensional modeling function
CN112741586A (en) * 2020-12-23 2021-05-04 武汉大学 Position acquisition method based on capsule endoscopy human body internal position acquisition system
CN113238291A (en) * 2021-06-21 2021-08-10 福建世新机器人科技有限公司 Geomagnetic vector real-time estimation and separation method based on magnetic component positioning and tracking
WO2021204182A1 (en) * 2020-04-08 2021-10-14 上海安翰医疗技术有限公司 Method and system for controlling capsule endoscope
CN114668362A (en) * 2022-03-18 2022-06-28 元化智能科技(深圳)有限公司 Positioning system and device of wireless capsule endoscope and computer equipment
WO2022193411A1 (en) * 2021-03-18 2022-09-22 深圳硅基智控科技有限公司 Capsule endoscope system and magnetic positioning method for capsule endoscope of the system
WO2023143170A1 (en) * 2022-01-28 2023-08-03 上海安翰医疗技术有限公司 Magnetic ball calibration method and magnetic ball calibration apparatus

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100735863B1 (en) * 2006-10-16 2007-07-06 한국항공대학교산학협력단 Position measurement system for capsule type endoscope
CN101820810A (en) * 2007-08-09 2010-09-01 奥林巴斯医疗株式会社 Medical device inducing system, medical device inducing method, and method for creating look-up table to be used in the medical device inducing system
CN102302357A (en) * 2011-06-22 2012-01-04 清华大学 Saccade endoscope and attitude sensing system used for same
CN102670158A (en) * 2012-05-10 2012-09-19 无锡市华焯光电科技有限公司 Locatable capsule endoscope system
CN103006164A (en) * 2012-12-13 2013-04-03 天津大学 Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor
CN103908216A (en) * 2014-04-10 2014-07-09 重庆金山科技(集团)有限公司 Capsule endoscope system with magnetic field positioning function and capsule endoscope of capsule endoscope system
WO2014113697A1 (en) * 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
CN106618456A (en) * 2016-12-21 2017-05-10 重庆金山医疗器械有限公司 Capsule endoscope control system
CN107348931A (en) * 2017-05-27 2017-11-17 重庆金山医疗器械有限公司 A kind of capsule endoscope spatial attitude assay method, system and device
CN108827133A (en) * 2018-06-15 2018-11-16 北京理工大学 A method of detecting mobile magnetic source pose

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4422476B2 (en) * 2003-12-26 2010-02-24 オリンパス株式会社 In-subject position detection system
US9232909B2 (en) * 2010-04-05 2016-01-12 Ankon Technologies Co., Ltd Computer-implemented system and method for determining the position of a remote object
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
CN106725272B (en) * 2016-12-21 2019-02-12 重庆金山医疗器械有限公司 Capsule endoscope

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100735863B1 (en) * 2006-10-16 2007-07-06 한국항공대학교산학협력단 Position measurement system for capsule type endoscope
CN101820810A (en) * 2007-08-09 2010-09-01 奥林巴斯医疗株式会社 Medical device inducing system, medical device inducing method, and method for creating look-up table to be used in the medical device inducing system
CN102302357A (en) * 2011-06-22 2012-01-04 清华大学 Saccade endoscope and attitude sensing system used for same
CN102670158A (en) * 2012-05-10 2012-09-19 无锡市华焯光电科技有限公司 Locatable capsule endoscope system
CN103006164A (en) * 2012-12-13 2013-04-03 天津大学 Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor
WO2014113697A1 (en) * 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
CN103908216A (en) * 2014-04-10 2014-07-09 重庆金山科技(集团)有限公司 Capsule endoscope system with magnetic field positioning function and capsule endoscope of capsule endoscope system
CN106618456A (en) * 2016-12-21 2017-05-10 重庆金山医疗器械有限公司 Capsule endoscope control system
CN107348931A (en) * 2017-05-27 2017-11-17 重庆金山医疗器械有限公司 A kind of capsule endoscope spatial attitude assay method, system and device
CN108827133A (en) * 2018-06-15 2018-11-16 北京理工大学 A method of detecting mobile magnetic source pose

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113693544B (en) * 2019-06-17 2023-06-13 深圳硅基智控科技有限公司 Capsule endoscope system
CN112089389A (en) * 2019-06-17 2020-12-18 深圳硅基智控科技有限公司 Capsule endoscope system with three-dimensional modeling function
CN113693544A (en) * 2019-06-17 2021-11-26 深圳硅基智控科技有限公司 Capsule endoscope system
WO2021204182A1 (en) * 2020-04-08 2021-10-14 上海安翰医疗技术有限公司 Method and system for controlling capsule endoscope
US11826015B2 (en) 2020-04-08 2023-11-28 Ankon Medical Technologies (Shanghai) Co., Ltd. System and method for controlling capsule endoscope
CN111870211A (en) * 2020-07-28 2020-11-03 北京信息科技大学 Three-dimensional endoscope with instrument pose navigation function and navigation method thereof
CN112741586A (en) * 2020-12-23 2021-05-04 武汉大学 Position acquisition method based on capsule endoscopy human body internal position acquisition system
CN112741586B (en) * 2020-12-23 2022-04-01 武汉大学 Position acquisition method based on capsule endoscopy human body internal position acquisition system
WO2022193411A1 (en) * 2021-03-18 2022-09-22 深圳硅基智控科技有限公司 Capsule endoscope system and magnetic positioning method for capsule endoscope of the system
CN113238291A (en) * 2021-06-21 2021-08-10 福建世新机器人科技有限公司 Geomagnetic vector real-time estimation and separation method based on magnetic component positioning and tracking
CN113238291B (en) * 2021-06-21 2023-11-17 福建世新机器人科技有限公司 Geomagnetic vector real-time estimation and separation method based on magnetic component positioning tracking
WO2023143170A1 (en) * 2022-01-28 2023-08-03 上海安翰医疗技术有限公司 Magnetic ball calibration method and magnetic ball calibration apparatus
CN114668362B (en) * 2022-03-18 2022-11-11 元化智能科技(深圳)有限公司 Positioning system and device of wireless capsule endoscope and computer equipment
CN114668362A (en) * 2022-03-18 2022-06-28 元化智能科技(深圳)有限公司 Positioning system and device of wireless capsule endoscope and computer equipment

Also Published As

Publication number Publication date
CN109620104B (en) 2021-04-02
WO2020143118A1 (en) 2020-07-16

Similar Documents

Publication Publication Date Title
CN109620104A (en) Capsule endoscope and its localization method and system
CN109791435B (en) Calibration of magnetic and optical sensors in virtual reality or augmented reality display systems
CN106153077B (en) A kind of initialization of calibration method for M-IMU human motion capture system
KR101509472B1 (en) Motion parameter determination method and device and motion auxiliary equipment
CN106445130B (en) A kind of motion capture gloves and its calibration method for gesture identification
WO2016183812A1 (en) Mixed motion capturing system and method
CN107348931B (en) Capsule endoscope space attitude determination system
US20150149104A1 (en) Motion Tracking Solutions Using a Self Correcting Three Sensor Architecture
US20100194879A1 (en) Object motion capturing system and method
KR20220012299A (en) Synchronization of Magnetic Sensor Sampling Frequency for Body Pose Tracking in Artificial Reality Systems
CN102245100A (en) Graphical representations
CN105962879A (en) Pose control system and control method of capsule endoscope and capsule endoscope
US20220000448A1 (en) Instrumented Ultrasound Probes For Machine-Learning Generated Real-Time Sonographer Feedback
CN113227879A (en) Ambient electromagnetic distortion correction for electromagnetic tracking
US11726582B2 (en) Method and system utilizing phased array beamforming for six degree of freedom tracking for an emitter in augmented reality systems
CN108733206A (en) A kind of coordinate alignment schemes, system and virtual reality system
KR20120131553A (en) method of motion tracking.
CN107561462A (en) The full attitude sensing system of capsule and space magnetic field detection means based on variation magnetic field
CN106125909A (en) A kind of motion capture system for training
RU121947U1 (en) TRAFFIC CAPTURE SYSTEM
KR20200143728A (en) Method for positioning and orienting portable systems and remote objects
EP4111442A1 (en) Hand and totem input fusion for wearable systems
CN107374566B (en) A kind of full attitude sensing system of capsule endoscope based on variation magnetic field
WO2015109442A1 (en) Multi-node motion measurement and analysis system
WO2011016302A1 (en) Marker for motion capture

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant