CN112515610B

CN112515610B - Driving method, device and system of wireless capsule endoscope

Info

Publication number: CN112515610B
Application number: CN202011373809.0A
Authority: CN
Inventors: 孟李艾俐; 许杨昕; 李可喻; 赵梓淇; 周越
Original assignee: Yuanhua Intelligent Technology Shenzhen Co ltd
Current assignee: Yuanhua Intelligent Technology Shenzhen Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-10-22
Anticipated expiration: 2040-11-30
Also published as: CN112515610A

Abstract

The embodiment of the application is suitable for the technical field of medical examination and inspection instruments and services, and provides a driving method, a device and a system of a wireless capsule endoscope, wherein the method comprises the following steps: in the process of driving a wireless capsule to move by adopting an extracorporeal driver, determining the current cavity environment of the wireless capsule, wherein the cavity environment comprises a straight cavity or a curved cavity; determining a target value of a driving angle of the external driver according to the current cavity environment of the wireless capsule, wherein the driving angle is an included angle between a connecting line between a central point of the external driver and a central point of the wireless capsule and a vertical line; adjusting the driving angle of the extracorporeal driver according to the target value; controlling the extracorporeal driver to drive the wireless capsule to move at the adjusted driving angle. By adopting the method, the problem that the movement process of the wireless capsule endoscope cannot be actively driven in the prior art can be solved.

Description

Driving method, device and system of wireless capsule endoscope

Technical Field

The application belongs to the technical field of medical examination and inspection instruments and services, and particularly relates to a driving method, a driving device and a driving system of a wireless capsule endoscope.

Background

The wireless capsule endoscope is a painless and non-invasive endoscope technology and is also an important technical means for carrying out complete examination on the digestive tract at present. For example, a wireless capsule endoscope may completely examine a patient's small intestine, an area that is inaccessible to both conventional gastroscopes and conventional enteroscopes.

Generally, a wireless capsule endoscope has only one capsule size, and a patient can swallow the capsule. Because the capsule is provided with an illumination module, a camera module, an image processing module, a wireless transmission module and the like, after entering the alimentary tract of a patient, the capsule can take images in the body of the patient and transmit the images to the outside of the body of the patient in real time. The doctor can make a diagnosis based on the received image.

However, the existing wireless capsule endoscope mainly depends on the natural peristalsis of the intestinal tract to advance in the human body, and the capsule is not controlled externally and cannot actively control the motion process of the capsule.

Disclosure of Invention

In view of this, embodiments of the present application provide a method, an apparatus, and a system for driving a wireless capsule endoscope, so as to solve the problem that the prior art cannot actively drive the movement process of the wireless capsule endoscope.

A first aspect of an embodiment of the present application provides a driving method of a wireless capsule endoscope, including:

in the process of driving a wireless capsule to move by adopting an extracorporeal driver, determining the current cavity environment of the wireless capsule, wherein the cavity environment comprises a straight cavity or a curved cavity;

determining a target value of a driving angle of the external driver according to the current cavity environment of the wireless capsule, wherein the driving angle is an included angle between a connecting line between a central point of the external driver and a central point of the wireless capsule and a vertical line;

adjusting the driving angle of the extracorporeal driver according to the target value;

controlling the extracorporeal driver to drive the wireless capsule to move at the adjusted driving angle.

A second aspect of an embodiment of the present application provides a driving apparatus of a wireless capsule endoscope, including:

the cavity environment determining module is used for determining the current cavity environment of the wireless capsule in the process of driving the wireless capsule to move by adopting an extracorporeal driver, and the cavity environment comprises a straight cavity or a bent cavity;

a target value determining module, configured to determine a target value of a driving angle of the extracorporeal driver according to a current lumen environment in which the wireless capsule is located, where the driving angle is an included angle between a vertical line and a connecting line between a central point of the extracorporeal driver and a central point of the wireless capsule;

the driving angle adjusting module is used for adjusting the driving angle of the extracorporeal driver according to the target value;

and the drive control module is used for controlling the extracorporeal driver to drive the wireless capsule to move according to the adjusted drive angle.

A third aspect of embodiments of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method for driving a wireless capsule endoscope according to the first aspect when executing the computer program.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of driving a wireless capsule endoscope as described in the first aspect.

A fifth aspect of embodiments of the present application provides a computer program product which, when run on a terminal device, causes the terminal device to execute the method of driving a wireless capsule endoscope of the first aspect described above.

A sixth aspect of the embodiment of the present application provides a driving system of a wireless capsule endoscope, including a wireless capsule, a data processing device, an examination bed, a magnetic sensor array disposed below the examination bed, and a mechanical arm installed at a preset position of the examination bed, wherein a permanent magnet ring is disposed in the wireless capsule, a magnetizing direction of the permanent magnet ring is orthogonal to an axis direction of the capsule, an external driver is disposed at a tail end of the mechanical arm, the external driver includes a motor and an external permanent magnet, the motor is rigidly connected to the external permanent magnet, a magnetic moment direction of the external permanent magnet is orthogonal to an axis when the motor rotates, and the external permanent magnet interacts with the permanent magnet ring to generate a magnetic field; the data processing device comprises the following modules:

Compared with the prior art, the embodiment of the application has the following advantages:

according to the embodiment of the application, the driving method of the wireless capsule endoscope can adaptively adjust the propelling force for driving the wireless capsule based on the analysis of the motion rule of the wireless capsule in the tubular complex environment (the straight cavity and the large-curvature acute-angle bent cavity), greatly improves the propelling efficiency of the capsule in the tubular complex environment, and can ensure the effective positioning of the wireless capsule. Secondly, the embodiment of the application greatly increases the working space by providing a large-scale magnetic sensor array, so that the method can be suitable for a larger working space with a complex environment. Thirdly, when the wireless capsule is positioned, the embodiment of the application only needs to use a plurality of sensors, and the optimal arrangement mode of the sensor sub-arrays is determined, and the plurality of sensors are activated from the large-scale magnetic sensor array by the arrangement of the optimal sensor sub-arrays, so that the working space can be greatly enlarged, and meanwhile, the high positioning frequency and the high positioning precision are kept. Fourthly, the wireless capsule used in the embodiment of the application only needs to embed one permanent magnet ring into the existing universal wireless capsule endoscope, and the modification is very simple; the capsule is driven to rotate by the aid of the mechanical arm holding a rotary spherical permanent magnet in an external driving mode, the device of the external driver is very simple and easy to install, and resistance of a contracted intestinal tract is easily overcome by means of converting rotary motion into linear motion rather than direct linear pushing.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic view of a drive system of a wireless capsule endoscope of one embodiment of the present application;

FIG. 2 is a schematic view of an extracorporeal driver in accordance with an embodiment of the present application;

FIG. 3 is a schematic diagram of the internal structure of a wireless capsule according to one embodiment of the present application;

figure 4 is a schematic illustration of the driving action of an extracorporeal driver on a wireless capsule according to one embodiment of the present application;

FIG. 5 is a flow chart illustrating the steps of a method for driving a wireless capsule endoscope in accordance with one embodiment of the present application;

FIG. 6 is a flowchart illustrating steps for obtaining a current positioning pose of a wireless capsule according to an embodiment of the present application;

FIG. 7(a) is a schematic diagram of a sensor arrangement according to an embodiment of the present application;

FIG. 7(b) is a schematic view of another sensor arrangement according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a simulation test according to an embodiment of the present application;

FIG. 9 is a schematic view of a target arrangement according to an embodiment of the present application;

FIG. 10 is a schematic diagram of an activated sensor sub-array of one embodiment of the present application;

FIG. 11 is a schematic diagram of a wireless capsule location process based on adaptively activated sensor sub-arrays, in accordance with an embodiment of the present application;

FIG. 12 is a schematic illustration of a method of driving a wireless capsule endoscope according to one embodiment of the present application;

FIG. 13 is a schematic view of a drive device of a wireless capsule endoscope of one embodiment of the present application;

fig. 14 is a schematic diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

At present, the wireless capsule endoscope mainly depends on the natural peristalsis of the intestinal tract to advance in the human body, and the capsule is not controlled externally. When a doctor finds a suspected lesion area, the capsule cannot be accurately positioned. In response to the above problems, related researchers have proposed various methods for driving and positioning a wireless capsule endoscope. These methods are typically designed based on electromagnets or permanent magnets. For example, researchers have proposed controlling the movement of the capsule by using a magnetic field generated by an array of several electromagnets, but this method requires equipment that is generally very large, expensive, and energy intensive compared to permanent magnet based methods; moreover, when the capsule is controlled to move by the method, the working space is small, the whole abdomen is generally difficult to accommodate, and the digestive tract cannot be completely checked. There are also many technical solutions based on permanent magnets. Generally, the technical scheme based on the permanent magnet is that a capsule embedded with the permanent magnet is driven by an external permanent magnet, the superposed magnetic fields of the capsule and the external permanent magnet are measured by a magnetic sensor, and the five-dimensional pose of the magnet can be obtained by solving a magnetic dipole model. However, the biggest challenge of these permanent magnet based solutions is that the magnetic field of the permanent magnet used for driving can have an undesired effect on the positioning result, reducing the accuracy of the positioning.

In many research works, researchers have used a capsule with a specific internal structure. By placing a small permanent magnet in the capsule and placing a magnetic sensor at specific six locations around it, this particular arrangement is just such that the six sensors cannot measure the magnetic field of the small permanent magnet in the capsule, but only the magnetic field of the outer large permanent magnet. Therefore, the pose of the capsule relative to the external large permanent magnet can be solved through the reading of the magnetic fields of the six sensors in the capsule. On the basis of this specially designed capsule, researchers have proposed the use of an external permanent magnet to attract the capsule in a dragging manner. However, the intestine is elongated and constricted, and the capsule is difficult to pull in the intestine. Since the magnetic moment acting on the capsule is inversely proportional to the third power of the distance between the capsule and the external permanent magnet and the magnetic force acting on the capsule is inversely proportional to the fourth power of the distance between the capsule and the external permanent magnet, it is apparent that the magnetic moment acting on the capsule is attenuated more slowly than the magnetic force as the distance between the capsule and the external permanent magnet increases. Therefore, some researchers have proposed that the outer wall of the capsule shell is made into a spiral shape, and then a rotating permanent magnet is used to generate a rotating magnetic field, so that the capsule is rotated to advance or retreat. However, in the above two schemes, a new high-frequency power consumption module is required to be installed in the capsule after the camera, the lighting module and the wireless transceiving module which are originally required to be installed, so that the precious volume in the capsule is inevitably occupied, and the consumption of electric energy is increased.

In other research works, researchers have proposed moving an internal sensor array out of the capsule, then developed an integral filtering based method to filter the magnetic field of the external permanent magnet from the superimposed magnetic field, and then calculated the pose of the capsule using the residual magnetic field. This obviously reduces the size of the capsule considerably and reduces the power consumption of the capsule, requiring fewer modifications to the capsule. But this method significantly reduces the frequency of capsule positioning. Researchers also develop a multi-magnetic target positioning technology, which can model a plurality of permanent magnets, then measure the superposed magnetic field by using a magnetic sensor, and directly solve the poses of the permanent magnets, thereby greatly improving the positioning frequency. However, when the technology is adopted, the working space is determined by the scale of the external sensor array, and the positioning precision is influenced by the number of the sensors and the arrangement density; secondly, the robustness of the capsule propulsion in vivo is easily influenced by the environment, and the motion characteristics of the capsule in a complex environment (especially in a large-curvature acute corner) need to be studied.

In some research work, radio signal localization and visual localization may also be used in wireless capsule endoscopic localization systems. The radio signal positioning technology is to acquire the strength of a radio signal emitted by a capsule by using a sensor array outside a human body to position, but the result of the positioning has a large error. The visual positioning predicts the capsule position through an image recognition algorithm or a visual odometer manufactured by deep learning, and the positioning result errors obtained by the positioning technology in different environments are large. Radio signal positioning and visual positioning have not been the mainstream choice for wireless capsule endoscope positioning systems.

Therefore, in view of the above problems, embodiments of the present application provide a method, an apparatus, and a system for driving a wireless capsule endoscope, by which a wireless capsule can be driven adaptively and simultaneously, and accurate positioning of the wireless capsule can be achieved.

The technical solution of the present application will be described below by way of specific examples.

Referring to fig. 1, there is shown a schematic diagram of a drive system of a wireless capsule endoscope of one embodiment of the present application, which is composed of a table 101, a magnetic sensor array 102, a robotic arm 103, a wireless capsule 104, and a data processing device (not shown in the figure). Wherein:

the magnetic sensor array is arranged below the examining table and used for positioning the position of the wireless capsule in the human body, and the magnetic sensor array is arranged in a matrix mode.

The mechanical arm is arranged at a preset position of the examination bed. For example, the robotic arm may be mounted near the examination table in a location convenient for examining the patient. As shown in fig. 1, the tip of the robotic arm is configured with an extracorporeal drive 1031. In operation, the extracorporeal driver is located above the examination bed for driving the wireless capsule inside the human body.

Fig. 2 is a schematic diagram of an extracorporeal driver according to an embodiment of the present application. The extracorporeal drive of fig. 2 comprises a motor 201 and an extracorporeal permanent magnet 202. The motor is rigidly connected with the external permanent magnet. The external permanent magnet can rotate around the axis of the motor.

In one possible implementation of the embodiment of the present application, the external permanent magnet may be a spherical permanent magnet. It should be noted that, no matter what shape the external permanent magnet is, in the application scenario of the embodiment of the present application, it can be modeled as a single magnetic dipole without shape, which is referred to as a magnetic dipole model of the permanent magnet. However, since there is a certain error between the model magnetic field and the real magnetic field, and the error between the model magnetic field and the real magnetic field of the spherical permanent magnet is the smallest of all shapes, the use of the spherical permanent magnet can reduce the error of subsequent positioning.

Because this application embodiment adopts rotation drive, the rotatory rotating magnetic field that produces of external permanent magnet, the capsule also should follow the rotation. Therefore, when the external permanent magnet is mounted, the magnetic moment direction of the external permanent magnet can be perpendicular to the rotation axis of the motor. Thus, when the motor rotates, the magnetic moment of the external permanent magnet rotates, and a rotating magnetic field is generated.

In the embodiment of the present application, besides the conventional image sensor, wireless signal transceiver module, microprocessor module, and button battery, the wireless capsule is further provided with a permanent magnet ring, that is, an annular permanent magnet 302 wrapped by a capsule shell 301 in the schematic diagram of the internal structure of the wireless capsule shown in fig. 3. Wireless capsule among the prior art adopts solid permanent magnet of cube or solid permanent magnet of cylinder usually, and such solid permanent magnet has occupied valuable space in the capsule, and this application embodiment has greatly reduced the occupation to the capsule space through using annular permanent magnet.

In one possible implementation of the embodiment of the present application, the magnetization direction of the permanent magnet ring in the wireless capsule is orthogonal to the capsule axis direction (i.e., AA direction in fig. 3). Usually, a permanent magnet is placed inside the capsule in order to be able to drive and position the capsule. In the prior art, the magnetizing direction of the permanent magnet in the capsule is generally the axial direction of the capsule, and the processing mode enables the axial direction of the capsule, namely the head direction of the capsule, to be easily determined in subsequent work. But this also results in the inability to rotate the capsule along the capsule axis. The magnetizing direction of the permanent magnet ring is orthogonal to the capsule axis, so that the capsule can rotate along the capsule axis under the action of the rotating magnetic field and can be driven.

In the embodiment of the present application, the data processing device may be a general-purpose computer disposed near the examination table. The computer can be operated by workers and is used for sending control instructions to the mechanical arm and the motor, collecting and processing magnetic field data measured by the magnetic sensor array and displaying the current capsule positioning and tracking result.

The data processing device can store the self-adaptive program and algorithm for driving and positioning at the same time. The algorithm comprises two parallel processing threads, namely an adaptive positioning thread and an adaptive driving thread. The capsule is subjected to simultaneous drive control and positioning tracking through modeling of a superposed magnetic field of an external drive magnet (an external permanent magnet) and a passive magnet (a permanent magnet ring) in the capsule and modeling of interaction of the two magnets.

In addition, the embodiment of the application greatly increases the working space by arranging a large-scale magnetic sensor array below the examination bed. However, at each positioning, the embodiments of the present application only need to activate several of the sensors. According to the embodiment of the application, the optimal arrangement mode of the sensor sub-arrays is researched, so that the plurality of sensors can be activated from the large-scale magnetic sensor array by the arrangement of the optimal sensor sub-arrays, and the driving and the positioning of the wireless capsule are realized. Thirdly, the embodiment of the application provides a self-adaptive propulsion adjusting method by analyzing the motion rule of the capsule in the tubular complex environment (a straight cavity and a large-curvature acute-angle turning cavity), and the propulsion efficiency of the wireless capsule in the tubular complex environment can be effectively improved.

For ease of understanding, the law of motion of the wireless capsule in a tubular complex environment (straight tract and sharp-angled turning tract of large curvature) was first analyzed.

If the wireless capsule is assumed to be in a tubular environment with an inner diameter slightly larger than the capsule diameter, the frictional resistance and deformation of the tubular environment are negligible. Fig. 4 shows a schematic diagram of the driving action of the extracorporeal driver on the wireless capsule, where α is the "driving angle", i.e. the angle between the line connecting the center point of the extracorporeal driver and the center point of the wireless capsule and the vertical. It is known that when a wireless capsule is driven in an environment without shape constraints, its magnetic moment is always aligned with the rotating magnetic field (the rotating magnetic field is generated by the rotation of a spherical permanent magnet inside an external extracorporeal drive under the action of a motor, and the wireless capsule embedded with a permanent magnet ring follows the rotation under the action of the external rotating magnetic field). However, this is not true in the natural lumen of the digestive tract system. In the process of simultaneously driving and positioning the wireless capsule, the operation frequency of the positioning thread is far higher than the execution frequency of the driving thread.

Consider a wireless capsule that is constrained to move in a straight lumen. When the pose of the external driver is determined, the wireless capsule can immediately advance along the straight cavity under the magnetic action of the external driver. During the advancing process of the capsule, the magnetic propelling force (the acting force of the permanent magnet in the extracorporeal driver to the permanent magnet ring in the capsule) is gradually reduced until the propelling force is 0

The front and back of the ('propulsion zero point') vibrate slightly, and then the posture of the extracorporeal driver starts to be updated.

It has been found through a large number of experiments that the "zero point of propulsion" is obtained when the driving angle alpha is gradually increased "

Gradually moving away from the starting point of the wireless capsule movement. In addition, during the process of advancing the wireless capsule, the magnetic moment direction of the wireless capsule always tries to rotateThe magnetic field directions are aligned. However, the axis of rotation of the rotating magnetic field acting on the wireless capsule is obviously no longer the direction of advance of the wireless capsule, but rather an angle, i.e., the "angular error" γ, exists. And the corresponding position when gamma is 45 degrees is a key point m for effectively rotating and driving/positioning the wireless capsule_γ＝45°(the "valid positioning keypoint"), when γ ≧ 45, the wireless capsule typically cannot rotate synchronously with the extracorporeal drive, which can result in invalid positioning. Under the action of magnetic force, the wireless capsule will move to the position of 'zero thrust'. If the positioning at this position is valid (gamma)<45 deg.), then the next pose of the extracorporeal drive can be correctly calculated; if the positioning result is invalid (gamma ≧ 45), the next pose of the extracorporeal drive may not be updated correctly. Thus, these two points ("zero thrust points"

) And "effective location Key Point" m_γ＝45°) The physical meaning of (a) is in fact a balance between drive efficiency and positioning effectiveness. In a straight lumen, at α ∈ [5 °, 35 ° ]]In the case of (2), the two points are relatively far apart. This means that increasing the drive angle α within this range can improve the drive efficiency without affecting the effectiveness of the positioning. )

Consider again that the wireless capsule is constrained to move within a large curvature acute-angled curved lumen. Through a large number of experiments and simulations, it can be found that as the driving angle α becomes larger, the "zero point of propulsion" is closer to the "effective positioning key point" (γ is 45 °), that is, the wireless capsule cannot be normally rotated and positioned at the stable position under the action of magnetic propulsion, and the next pose of the extracorporeal driver cannot be updated. This means that increasing the drive angle α in this range also increases the drive efficiency, but too large α affects the positioning effectiveness. Therefore, in a large curvature acute angle curved channel, the drive angle α should be selected to be a relatively small value.

According to the above analysis, it can be found that in a straight lumen, increasing the driving angle can significantly increase the driving efficiency without affecting the effectiveness of positioning; in acutely curved channels, however, a smaller drive angle is required to ensure effective positioning. Therefore, the driving method of the wireless capsule endoscope provided by the embodiment of the application can adaptively adjust the driving angle according to the environmental conditions, so that the wireless capsule can more efficiently move in different environments.

Referring to fig. 5, a flow chart illustrating steps of a driving method of a wireless capsule endoscope according to an embodiment of the present application is shown, which may specifically include the following steps:

s501, in the process of driving the wireless capsule to move by adopting an extracorporeal driver, determining the current cavity environment of the wireless capsule, wherein the cavity environment comprises a straight cavity or a curved cavity.

It should be noted that the method can be applied to the driving system of the wireless capsule endoscope, and the steps described in the method can be executed by the data processing device in the system. That is, the execution subject of the embodiment of the present application is the data processing device described above, and the movement of the wireless capsule in the digestive tract of the human body is driven based on the control instruction of the data processing device.

As previously discussed, the drive parameters required to drive the movement of the wireless capsule in different lumen environments are different. Because, in order to drive the wireless capsule efficiently, it is necessary to first determine the channel environment in which the wireless capsule is currently located, while ensuring effective positioning while improving driving efficiency.

In a possible implementation manner of the embodiment of the application, since the wireless capsule is provided with the image sensor, the wireless capsule can be used for image acquisition of an environment in an alimentary tract, and therefore whether a current cavity environment of the wireless capsule is a straight cavity or a curved cavity can be analyzed according to an acquired image, and the curved cavity can be a large acute angle curved cavity.

The speed of movement of the wireless capsule is also greatly reduced due to the greater resistance caused by the curved shape restriction compared to a straight lumen. Therefore, in another possible implementation manner of the embodiment of the present application, whether the wireless capsule is currently located in a straight channel or a curved channel can be determined according to the movement speed of the wireless capsule.

In a particular implementation, the current speed of movement of the wireless capsule may be determined first. If the current movement speed of the wireless capsule is greater than a preset speed threshold, judging that the cavity environment where the wireless capsule is currently located is a straight cavity; if the current movement speed of the wireless capsule is less than or equal to the preset speed threshold, the current cavity environment where the wireless capsule is located can be judged to be a bent cavity.

For example, in v_thRepresenting a speed threshold for distinguishing between different environments. At time t, when the wireless capsule is at speed

Moving, the wireless capsule may be considered to be currently in a straight lumen. When the wireless capsule is at speed

Moving, the wireless capsule may be considered to be currently in a curved lumen.

It should be noted that, in actual use, there is a large fluctuation in the estimation of the instantaneous velocity of the wireless capsule due to the presence of positioning errors. Therefore, the embodiment of the present application may use a moving average (SMA) algorithm to calculate a moving average of the moving speed of the wireless capsule over a period of time (e.g., 3 Δ T time) to approximately determine the moving speed of the wireless capsule at time T. The moving average algorithm is an algorithm for solving an average value by using current information and part of historical information, and abnormal values can be eliminated by smoothing the latest part of signals/data, so that the anti-interference capability of the signals/data can be greatly improved.

In a specific implementation, when the movement speed of the wireless capsule is determined based on a moving average algorithm, the current positioning pose of the wireless capsule may be firstly acquired, a plurality of capsule positions of the wireless capsule in a past preset time period may be determined, and then historical speeds of the wireless capsule at a plurality of moments in the preset time period may be respectively calculated according to the positioning pose and the plurality of capsule positions, so that the current movement speed of the wireless capsule may be calculated according to the plurality of historical speeds.

For example, the movement speed of the capsule at the T-i delta T moment can be calculated according to the current positioning pose of the wireless capsule and 3 past capsule positions within 3 delta T time, and then SMA is utilized₃The algorithm estimates the original speed of the wireless capsule at the time t

In the embodiment of the application, through a large number of experiments in a straight cavity and a large-curvature acute-angle bent cavity, it is observed that the moving average speed of the wireless capsule obtained based on the SMA algorithm in the straight cavity is high, and the moving average speed in the large-curvature acute-angle bent cavity is low. Thus, an intermediate velocity v can be selected that is capable of significantly distinguishing between the two environments_thAs the speed threshold.

As shown in fig. 6, acquiring the current positioning pose of the wireless capsule may include the following steps S601-S604:

s601, activating a plurality of target sensors from the magnetic sensor array to form a sensor sub-array for measuring current magnetic field data.

In the embodiment of the application, when in examination, a patient can lie on the examination bed after swallowing the wireless capsule, and the permanent magnet ring contained in the wireless capsule and the permanent magnet in the extracorporeal driver interact to generate a magnetic field. To measure the magnetic field data of the magnetic field, several sensors may be activated from a magnetic sensor array, constituting a sensor sub-array.

In the embodiment of the present application, the activated sensor may be determined according to a historical pose obtained from a previous time of positioning the wireless capsule, that is, a previous time of positioning the wireless capsule.

It should be noted that, during the initial positioning, since there is no historical pose data of the previous time, the magnetic sensor array may randomly activate a plurality of sensors according to the instruction of the data processing device to form a sensor sub-array.

For non-primary positioning, a plurality of target sensors in the magnetic sensor array below the examination bed can be activated according to the positioning pose obtained by previous positioning to form a sensor sub-array for measuring the current magnetic field.

It should be noted that the number of the activated target sensors may be preset, that is, the format of the sensor activated each time is equal. And, the arrangement mode of the preset number of activated target sensors should be the same each time, that is, the preset number of target sensors are arranged according to the preset target arrangement mode.

In the embodiment of the application, the preset number of target sensors arranged in the target arrangement mode has the optimal positioning accuracy.

In a possible implementation manner of the embodiment of the present application, a target arrangement manner with optimal positioning accuracy may be predetermined for a large magnetic sensor array disposed below an examination table. Then, in the subsequent inspection process, the corresponding target sensors are activated each time according to the optimal target arrangement mode.

In the embodiment of the present application, when determining the target arrangement manner, the number of target sensors to be arranged in the sensor sub-array may be determined first. And then, generating a plurality of sensor arrangement modes to be tested based on the number of the target sensors to be arranged. Through simulation test, the positioning accuracy of each sensor arrangement mode to be tested can be tested respectively. And finally, determining the sensor arrangement mode with the optimal positioning precision as the target arrangement mode.

In a particular implementation, it may be determined first how many target sensors are activated at a time from the magnetic sensor array. For example, 8 or 9 sensors may be activated at a time. All possible arrangements are then enumerated using a combinatorial mathematics based approach. For example, the sensors may be arranged in a grid to facilitate enumeration of all possibilities, the grid satisfying a four-fold rotational symmetry about a center.

As shown in fig. 7(a) and 7(b), two different sensor arrangements are illustrated. The grid may be referred to as an "even grid" or an "odd grid" depending on whether the number of sensors that may be arranged in each column of each row is even or odd. Fig. 7(a) is an even grid, 4 sensors can be arranged in each row and each column, and fig. 7(a) actually arranges 2 sensors in each row and each column; fig. 7(b) is an odd grid, where 5 sensors can be arranged in each row and each column, and fig. 7(b) actually arranges 2 sensors in each row and each column.

It should be noted that, since the sparse arrangement will result in the reduction of the positioning accuracy, the size of the grid larger than that shown in fig. 7(a) and fig. 7(b) may not be considered in the embodiment of the present application. Also, because of the symmetry requirements, only one quarter of the grid needs to be considered in the layout design.

For each arrangement of sensor sub-arrays, the positioning accuracy can be tested in the simulation. Fig. 8 is a schematic diagram of a simulation test according to an embodiment of the present application, where Pa and Pc represent three-dimensional position information of an infinite capsule at different positions,

showing the magnetic moment direction of the permanent magnet ring in the infinite capsule at the corresponding position. During the simulation test, the wireless capsule can be randomly generated in the box-like area shown in fig. 8, which is above the sensor, and the attitude of the driver is generated by the rotary drive algorithm. The theoretical synthetic magnetic field and the additional random noise are measured by the sensor subarray, and the five-dimensional pose of the wireless capsule is solved through a multi-magnetic target tracking algorithm based on a magnetic dipole model. Finally, the arrangement with the optimum positioning accuracy, i.e., the target arrangement, can be obtained. Fig. 9 is a schematic diagram of an arrangement of targets with optimal positioning accuracy according to an embodiment of the present application.

In the embodiment of the present application, during the capsule tracking process, the sensors may be activated in real time in the predetermined target arrangement manner to form a sensor sub-array, and the activated sensor sub-array measures the superimposed magnetic field in real time. FIG. 10 is a schematic diagram of an activated sensor sub-array according to one embodiment of the present application. In fig. 10, according to the position of the wireless capsule when it was previously positioned, several sensors can be activated from the magnetic sensor array according to the above target arrangement to form a sensor sub-array.

It should be noted that, in the process of tracking the capsule, although the pose of the capsule is constantly changing, the optimal arrangement determined by simulation is constant, and the sensor sub-arrays activated in the optimal arrangement are changed. That is, this process of obtaining the optimum arrangement through simulation only needs to be performed once in actual operation. In the subsequent positioning process, a certain number of sensors are activated in a changed area by adopting an optimal target arrangement mode all the time to form a sensor sub-array. The following positioning process is a process performed by a glue. Namely:

1) determining an activated sensor subarray according to the result of the previous capsule pose calculation, and measuring a magnetic field through the activated sensor subarray;

2) and solving the latest capsule pose by using the measured magnetic field data, wherein the latest pose can be used for determining the next sensor sub-array.

And S602, measuring the magnetic field by adopting the sensor subarray to obtain the current magnetic field data.

S603, calculating the current five-dimensional pose of the wireless capsule based on the magnetic field data, wherein the five-dimensional pose comprises the three-dimensional position and the two-dimensional magnetic moment direction of the wireless capsule.

In an embodiment of the present application, the activated sensor sub-array may be used to measure the superimposed magnetic field, i.e., the magnetic field formed by the interaction of the permanent magnet in the extracorporeal drive and the permanent magnet ring within the wireless capsule.

Programs and algorithms for processing or calculating the magnetic field data may be configured in the data processing device. Such as a multi-object tracking (MOT) algorithm. The data processing equipment can process the measured magnetic field data by adopting an MOT algorithm and calculate the current five-dimensional pose of the wireless capsule.

It should be noted that, for a permanent magnet, it has a six-dimensional attitude in space, that is, a three-dimensional position and a three-dimensional magnetic moment direction (orientation). However, in the embodiment of the application, the pose of the permanent magnet is calculated through the change of the magnetic field, and the model magnetic field is unchanged because the permanent magnet rotates around the direction of the magnetic moment of the permanent magnet, so that the degree of freedom is lost. That is, for the permanent magnet positioning based on the magnetic dipole model, the permanent magnet has only five-dimensional poses, namely, a three-dimensional position and a two-dimensional magnetic moment direction.

S604, determining a sixth-dimensional pose of the wireless capsule according to the three-dimensional position and the two-dimensional magnetic moment direction, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.

In the present embodiment, since the capsule is rotationally driven, the direction of the capsule rotation axis is the forward direction, i.e., the sixth dimension of the attitude. Therefore, the MOT algorithm can be improved, and an improved multi-magnetic-object tracking (IMOT) algorithm is adopted to calculate the sixth dimension of the capsule pose according to the five dimensions of the wireless capsule.

In a possible implementation manner of the embodiment of the present application, the three-dimensional position and the two-dimensional magnetic moment direction obtained by calculation may be processed respectively. For example, a three-dimensional position is processed to obtain one-dimensional orientation, and a two-dimensional magnetic moment direction is processed to obtain another one-dimensional orientation. And then, fusing the two obtained one-dimensional orientations, and taking the fused orientation as a sixth-dimensional pose of the wireless capsule.

In a possible implementation manner of the embodiment of the application, the process of processing the two-dimensional magnetic moment direction may be performing Normal Vector Fitting (NVF) on the two-dimensional magnetic moment direction to obtain the first advance direction.

The rotating shaft of the capsule can be regarded as the advancing direction of the capsule, and the magnetic moment direction of the permanent magnet ring in the capsule is always orthogonal to the advancing direction of the capsule, so that the advancing direction of the wireless capsule can be fitted by a common normal vector of the magnetic moment directions for multiple times in a period of time.

It should be noted that when the movement speed of the wireless capsule is relatively slow, the NVF algorithm can estimate the advancing direction of the capsule with high accuracy, but when the speed of the wireless capsule becomes large, the accuracy of the NVF is gradually reduced because the moving direction of the capsule may have changed in a plurality of measurements.

In a possible implementation manner of the embodiment of the present application, the processing on the three-dimensional position may be performed in a manner of fitting a bezier curve and calculating a derivative (BCG), so as to obtain the second forward direction.

Typically, the BCG algorithm uses a betz curve to fit the wireless capsule's position trajectory over a period of time, and the directional derivatives at the ends of the trajectory can be used to estimate the current direction of movement. Therefore, in the embodiment of the present application, a bezier curve may be used to fit the three-dimensional position within the preset time period to a position track, and the direction derivative of the track end of the position track is calculated, so that the calculated direction derivative is used to characterize the second heading direction.

In a particular implementation, a Gaussian Mixture Model (GMM) in combination with an expectation-maximization (EM) algorithm may be used to cluster location points in a trajectory into three control points P₀、P₁、P₂And generating a smooth quadratic Betz curve by using the three control points to fit the track of the capsule. The direction of movement of the capsule can be represented by the derivative of the end of the curve.

It should be noted that, when the wireless capsule moves at a high speed, the BCG algorithm can estimate the advancing direction of the capsule with high accuracy, but when the capsule moves slowly, the BCG algorithm has a large sensitivity to position noise, and the positioning error of the BCG algorithm also becomes large.

After the first forward direction of the wireless capsule is calculated by using the NVF algorithm and the second forward direction of the wireless capsule is calculated by using the BCG algorithm, the first forward direction and the second forward direction need to be weighted and fused to obtain the final forward direction due to the fact that the two inconsistent forward directions exist.

In an embodiment of the present application, the first heading and the second heading may be fused using a spherical linear difference (SLI). The SLI algorithm may adaptively give the weight values for both forward directions depending on the speed of movement of the wireless capsule.

Thus, when the first and second directions of advancement are merged using the SLI algorithm, the current speed of movement of the wireless capsule may be first determined, and then the weight values for the first and second directions of advancement may be determined based on the speed of movement, respectively. Note that the weight value in the first forward direction decreases with increasing speed of movement, while the weight value in the second forward direction increases with increasing speed of movement. That is, when the movement speed of the wireless capsule is fast, the weight value of BCG is increased, and the weight value of NVF is decreased; as the speed of the wireless capsule slows, the weight value of BCG becomes smaller, while the weight value of NVF becomes larger. Finally, the first forward direction and the second forward direction may be weighted and fused according to the determined weight value, so as to obtain the forward direction of the fused wireless capsule. Therefore, no matter the speed of the capsule is high or low, the forward direction of the wireless capsule can be well estimated through the result of SLI fusion.

Through a large number of experiments, the running time of the IMOT algorithm is mostly derived from the GMM + EM-based clustering step in the BCG algorithm. After the optimal sensor sub-array method based on the embodiment of the application is used, the updating frequency of the algorithm of the MOT is greatly increased, so the time for acquiring a plurality of magnetic field measurement data for the NVF algorithm is greatly shortened. Therefore, the moving direction of the wireless capsule is almost constant in a short time and is kept uniform. Based on such consideration, in another possible implementation manner of the embodiment of the application, when the sixth-dimensional pose of the wireless capsule is calculated by adopting the five-dimensional pose, the BCG algorithm and the subsequent fusion part can be removed, and the advancing direction is estimated by using only the NVF algorithm. Therefore, the simplified IMOT algorithm can increase the positioning updating frequency and maintain certain positioning accuracy.

Fig. 11 is a schematic diagram of a wireless capsule location process based on adaptively activated sensor sub-arrays according to an embodiment of the present application. In FIG. 11, when the wireless capsule is in a certain position (e.g., P)_c1Where), the activated sensor subarray based on the previous historical pose is subarray 1, based on the magnetic field data of subarray 1, the current five-dimensional pose of the wireless capsule can be calculated, and based on the five-dimensional poseAnd determining the sixth-dimensional pose. Along with the movement of the wireless capsule in the human body, when the wireless capsule is moved by P_c1Move to P_c2In the process, the activated sensor subarray based on the previous historical pose is changed into subarray 2, and the wireless capsule P can be calculated based on the magnetic field data of the subarray 2_c2The position and posture of the capsule are determined in five dimensions, and the position and posture of the capsule in the sixth dimension are determined on the basis of the position and posture of the capsule in the fifth dimension, so that the wireless capsule in the P dimension is obtained_c2And (4) positioning pose.

S502, determining a target value of the driving angle of the extracorporeal driver according to the current cavity environment of the wireless capsule.

In the embodiment of the application, at the time t, the wireless capsule is in the straight cavity with the speed

A larger driving angle alpha_HIs used as alpha^(t)The driving efficiency can be maximized; when the wireless capsule is in the acute-angle bent cavity, the speed is increased

A smaller drive angle alpha_LIs used as alpha^(t)Can ensure effective positioning

Therefore, in a specific implementation, if the current cavity environment of the wireless capsule is a straight cavity, it may be determined that the target value of the driving angle in the straight cavity is the first driving angle; if the current cavity environment where the wireless capsule is located is a curved cavity, the target value of the driving angle in the curved cavity can be determined to be a second driving angle. The first driving angle is larger than the second driving angle, and the first driving angle and the second driving angle are between 5 and 35 degrees.

In the embodiment of the present application, when determining the specific values of the first driving angle and the second driving angle, the driving angle α may be increased from 5 ° to 35 °, and the wireless capsule may be sequentially placed in a straight channelAnd the movement in the large-curvature acute-angle bending cavity channel, and recording the change of the average speed of the wireless capsule. Wherein the drive angle, i.e. the maximum drive angle alpha, at which the wireless capsule is difficult to pass through a curved lumen, is to be recorded_max. Therefore, when α is selected_HAnd alpha_LBoth (i.e. the first and second drive angles) should be less than a_maxTo ensure that the wireless capsule is accurately positioned when entering the curved lumen while alpha is present_HIt is desirable to be as large as possible to improve the driving efficiency in straight channels.

S503, adjusting the driving angle of the extracorporeal driver according to the target value.

In the embodiment of the application, after the target value of the driving angle of the extracorporeal driver to be adjusted is determined according to the cavity environment where the wireless capsule is located, the driving angle of the extracorporeal driver may be adjusted according to the target value.

In a specific implementation, the target pose of the extracorporeal driver may be calculated according to the first driving angle or the second driving angle, and then the extracorporeal driver is updated from the current pose to the target pose. The above object poses can be calculated using rotational drive equations in the data processing device.

S504, controlling the extracorporeal driver to drive the wireless capsule to move according to the adjusted driving angle.

After the driving angle of the extracorporeal driver is adjusted, namely the pose of the extracorporeal driver is updated according to the determined driving angle, the extracorporeal driver can continue to drive the wireless capsule to move in the alimentary canal of the human body according to the new pose.

The above-mentioned process of estimating the speed according to the pose of the wireless capsule, adjusting the driving angle according to the magnitude relationship between the estimated speed and the preset speed threshold, and further updating the pose of the extracorporeal driver may be as shown in fig. 12. Determining the current positioning pose (P) of the wireless capsule according to the positioning thread_cAnd

) Then, the current movement of the wireless capsule can be estimated according to the positioning poseDynamic velocity V_cAccording to the movement speed and the preset speed threshold value v_thThe driving angle of the extracorporeal driver is determined by selecting a larger driving angle alpha_HOr a smaller drive angle alpha_LThen, a rotational drive algorithm is executed to update the pose of the in vitro driver according to the selected drive angle.

In the embodiment of the application, based on the analysis of the motion rule of the wireless capsule in the tubular complex environment (a straight cavity and a large-curvature acute-angle bent cavity), the driving method of the wireless capsule endoscope can adaptively adjust the propelling force for driving the wireless capsule, greatly improve the propelling efficiency of the capsule in the tubular complex environment, and ensure the effective positioning of the wireless capsule. Secondly, the embodiment of the application greatly increases the working space by providing a large-scale magnetic sensor array, so that the method can be suitable for a larger working space with a complex environment. Thirdly, when the wireless capsule is positioned, the embodiment of the application only needs to use a plurality of sensors, and the optimal arrangement mode of the sensor sub-arrays is determined, and the plurality of sensors are activated from the large-scale magnetic sensor array by the arrangement of the optimal sensor sub-arrays, so that the working space can be greatly enlarged, and meanwhile, the high positioning frequency and the high positioning precision are kept. Fourthly, the wireless capsule used in the embodiment of the application only needs to embed one permanent magnet ring into the existing universal wireless capsule endoscope, and the modification is very simple; the capsule is driven to rotate by the aid of the mechanical arm holding a rotary spherical permanent magnet in an external driving mode, the device of the external driver is very simple and easy to install, and resistance of a contracted intestinal tract is easily overcome by means of converting rotary motion into linear motion rather than direct linear pushing.

It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Referring to fig. 13, a schematic diagram of a driving apparatus of a wireless capsule endoscope according to an embodiment of the present application is shown, and may specifically include a lumen environment determining module 1301, a target value determining module 1302, a driving angle adjusting module 1303, and a driving control module 1304, where:

In an embodiment of the present application, the cavity environment determination module may include the following sub-modules:

the movement speed determination submodule is used for determining the current movement speed of the wireless capsule;

the straight cavity judgment submodule is used for judging that the cavity environment where the wireless capsule is located is the straight cavity if the current movement speed of the wireless capsule is larger than a preset speed threshold;

and the bent cavity judgment submodule is used for judging that the cavity environment where the wireless capsule is currently located is the bent cavity if the current movement speed of the wireless capsule is less than or equal to the preset speed threshold.

In an embodiment of the present application, the motion speed determination sub-module may include the following units:

the positioning pose acquisition unit is used for acquiring the current positioning pose of the wireless capsule;

a capsule position determining unit for determining a plurality of capsule positions of the wireless capsule in a past preset time period;

the historical speed calculation unit is used for respectively calculating the historical speeds of the wireless capsule at a plurality of moments in the preset time period according to the positioning pose and the capsule positions;

and the movement speed calculation unit is used for calculating the current movement speed of the wireless capsule according to a plurality of historical speeds.

In an embodiment of the present application, the positioning pose acquisition unit may include the following sub-units:

the sensor activating subunit is used for activating a plurality of target sensors from the magnetic sensor array to form a sensor sub-array for measuring the current magnetic field data;

the magnetic field measuring subunit is used for measuring a magnetic field by adopting the sensor subarray to obtain the current magnetic field data, wherein the magnetic field is generated by the interaction of a permanent magnet ring contained in the wireless capsule and an in-vitro permanent magnet contained in the in-vitro driver;

a five-dimensional pose calculation subunit, configured to calculate, based on the magnetic field data, a current five-dimensional pose of the wireless capsule, where the five-dimensional pose includes a three-dimensional position and a two-dimensional magnetic moment direction of the wireless capsule;

and the sixth-dimensional pose determining subunit is used for determining a sixth-dimensional pose of the wireless capsule according to the three-dimensional position and the two-dimensional magnetic moment direction, and the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.

In an embodiment of the present application, the target value determination module may include the following sub-modules:

a first driving angle determining submodule, configured to determine that a target value of the driving angle is a first driving angle if a current cavity environment in which the wireless capsule is located is the straight cavity;

and the second driving angle determining submodule is used for determining that the target value of the driving angle is a second driving angle if the current cavity environment of the wireless capsule is the bent cavity, and the first driving angle is larger than the second driving angle.

In an embodiment of the application, the first drive angle and the second drive angle are between 5-35 degrees.

In an embodiment of the present application, the driving angle adjusting module may include the following sub-modules:

the target pose calculation sub-module is used for calculating the target pose of the extracorporeal driver according to the first driving angle or the second driving angle;

and the target pose updating sub-module is used for updating the extracorporeal driver from the current pose to the target pose.

For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.

Referring to fig. 14, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 14, the terminal device 1400 of the present embodiment includes: a processor 1410, a memory 1420, and a computer program 1421 stored in the memory 1420 and executable on the processor 1410. The processor 1410, when executing the computer program 1421, implements steps in various embodiments of the driving method of the wireless capsule endoscope described above, such as steps S501 to S504 shown in fig. 5. Alternatively, the processor 1410, when executing the computer program 1421, implements the functions of the modules/units in the above device embodiments, for example, the functions of the modules 1301 to 1304 in fig. 13.

Illustratively, the computer program 1421 may be partitioned into one or more modules/units, which are stored in the memory 1420 and executed by the processor 1410 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used for describing the execution process of the computer program 1421 in the terminal device 1400. For example, the computer program 1421 may be divided into a cavity environment determination module, a target value determination module, a driving angle adjustment module, and a driving control module, and each module has the following specific functions:

The terminal device 1400 may be a data processing device in the foregoing embodiments, such as a computing device like a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device 1400 may include, but is not limited to, a processor 1410, a memory 1420. Those skilled in the art will appreciate that fig. 14 is only one example of a terminal device 1400 and is not intended to limit terminal device 1400, and may include more or less components than those shown, or some components in combination, or different components, for example, terminal device 1400 may also include input/output devices, network access devices, buses, etc.

The Processor 1410 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 1420 may be an internal storage unit of the terminal device 1400, such as a hard disk or a memory of the terminal device 1400. The memory 1420 may also be an external storage device of the terminal device 1400, such as a plug-in hard disk provided on the terminal device 1400, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on. Further, the memory 1420 may also include both an internal storage unit of the terminal device 1400 and an external storage device. The memory 1420 is used for storing the computer programs 1421 and other programs and data required by the terminal device 1400. The memory 1420 may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also provides a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the driving method of the wireless capsule endoscope according to the previous embodiments.

The present embodiments also provide a computer-readable storage medium storing a computer program, which when executed by a processor, implements the driving method of a wireless capsule endoscope as described in the foregoing embodiments.

The embodiment of the present application also provides a computer program product, which when run on a terminal device, causes the terminal device to execute the driving method of the wireless capsule endoscope described in the foregoing embodiments.

The embodiment of the application also provides a driving system of the wireless capsule endoscope, which comprises a wireless capsule, data processing equipment, an examination bed, a magnetic sensor array arranged below the examination bed and a mechanical arm arranged at a preset position of the examination bed, wherein a permanent magnet ring is arranged in the wireless capsule, the magnetizing direction of the permanent magnet ring is orthogonal to the axis direction of the capsule, an external driver is arranged at the tail end of the mechanical arm, the external driver comprises a motor and an external permanent magnet, the motor is rigidly connected with the external permanent magnet, the magnetic moment direction of the external permanent magnet is orthogonal to the axis when the motor rotates, and the external permanent magnet and the permanent magnet ring interact to generate a magnetic field; the data processing device comprises the following modules:

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A drive device for a wireless capsule endoscope, said device being adapted to perform the steps of:

controlling the extracorporeal driver to drive the wireless capsule to move at the adjusted driving angle;

wherein the determining a target value of the driving angle of the extracorporeal driver according to the current cavity environment of the wireless capsule comprises:

if the current cavity environment of the wireless capsule is the straight cavity, determining that the target value of the driving angle is a first driving angle;

if the current cavity environment of the wireless capsule is the curved cavity, determining that the target value of the driving angle is a second driving angle, wherein the first driving angle and the second driving angle are between 5 and 35 degrees, and the first driving angle is larger than the second driving angle.

2. The apparatus of claim 1, wherein the determining the current lumen environment of the wireless capsule comprises:

determining a current movement speed of the wireless capsule;

if the current movement speed of the wireless capsule is greater than a preset speed threshold, judging that the cavity environment where the wireless capsule is currently located is the straight cavity;

and if the current movement speed of the wireless capsule is less than or equal to the preset speed threshold, judging that the cavity environment where the wireless capsule is located is the curved cavity.

3. The apparatus of claim 2, wherein said determining a current speed of movement of said wireless capsule comprises:

acquiring the current positioning pose of the wireless capsule;

determining a plurality of capsule locations at which the wireless capsule has been located within a past preset time period;

respectively calculating the historical speeds of the wireless capsule at a plurality of moments in the preset time period according to the positioning pose and the positions of the capsules;

and calculating the current movement speed of the wireless capsule according to a plurality of historical speeds.

4. The apparatus of claim 3, wherein the acquiring the current positioning pose of the wireless capsule comprises:

activating a plurality of target sensors from the magnetic sensor array to form a sensor sub-array for measuring current magnetic field data;

measuring a magnetic field by using the sensor subarray to obtain the current magnetic field data, wherein the magnetic field is generated by the interaction of a permanent magnet ring contained in a wireless capsule and an in-vitro permanent magnet contained in the in-vitro driver;

calculating a current five-dimensional pose of the wireless capsule based on the magnetic field data, the five-dimensional pose comprising a three-dimensional position and a two-dimensional magnetic moment direction of the wireless capsule;

and determining a sixth-dimensional pose of the wireless capsule according to the three-dimensional position and the two-dimensional magnetic moment direction, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.

5. The apparatus of claim 1, wherein the adjusting the drive angle of the extracorporeal driver according to the target value comprises:

calculating a target pose of the extracorporeal driver according to the first driving angle or the second driving angle;

updating the extracorporeal driver from a current pose to the target pose.

6. A drive device for a wireless capsule endoscope, comprising:

the driving control module is used for controlling the extracorporeal driver to drive the wireless capsule to move according to the adjusted driving angle;

wherein the target value determination module is specifically configured to:

7. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps performed by the drive means of a wireless capsule endoscope according to any of claims 1-5 when executing the computer program.

8. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, performs the steps performed by the drive apparatus of a wireless capsule endoscope of any of claims 1-5.