CN112515611B - Positioning method and device of wireless capsule endoscope and terminal equipment - Google Patents
Positioning method and device of wireless capsule endoscope and terminal equipment Download PDFInfo
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- CN112515611B CN112515611B CN202011376519.1A CN202011376519A CN112515611B CN 112515611 B CN112515611 B CN 112515611B CN 202011376519 A CN202011376519 A CN 202011376519A CN 112515611 B CN112515611 B CN 112515611B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
The embodiment of the application is suitable for the technical field of medical examination and inspection instruments and services, and provides a positioning method, a positioning device and terminal equipment of a wireless capsule endoscope, wherein the method comprises the following steps: activating the sensor sub-array from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver; measuring a magnetic field by using the sensor subarray to obtain current magnetic field data; 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 performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule. By adopting the method to position the wireless capsule endoscope, the positioning updating frequency can be increased, and meanwhile, a certain positioning precision can be kept.
Description
Technical Field
The application belongs to the technical field of medical examination and inspection instruments and services, and particularly relates to a positioning method and device of a wireless capsule endoscope and terminal equipment.
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 disease 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 by the outside. When a doctor finds a lesion area through the received image, the doctor cannot accurately judge the position of the capsule in the intestinal tract of the human body.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for positioning a wireless capsule endoscope, and a terminal device, so as to solve the problem that a wireless capsule cannot be accurately positioned when a wireless capsule endoscope is used for disease diagnosis and treatment in the prior art.
A first aspect of an embodiment of the present application provides a method for positioning a wireless capsule endoscope, including:
activating the sensor sub-array from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver;
measuring a magnetic field by using the sensor subarray to obtain current magnetic field data, wherein the magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal 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 performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.
A second aspect of embodiments of the present application provides a positioning device of a wireless capsule endoscope, comprising:
the activation module is used for activating the sensor subarray from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver;
the measuring module is used for measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, and the magnetic field is generated by the interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver;
a calculation module, 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 fitting module is used for performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, and the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.
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 of positioning 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 having stored thereon a computer program which, when executed by a processor, implements the method of positioning 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 perform the method for positioning a wireless capsule endoscope of the first aspect described above.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, a large-scale magnetic sensor array can be configured, and then when an extracorporeal driver is adopted to drive the wireless capsule to move, the sensor sub-array is activated from the magnetic sensor array and used for measuring a magnetic field generated by the interaction of a permanent magnet ring contained in the wireless capsule and an extracorporeal permanent magnet, so that the working space during examination is greatly increased; based on the activated sensor subarray, the five-dimensional pose of the wireless capsule can be calculated firstly, then on the basis, normal vector fitting can be carried out on the two-dimensional magnetic moment direction in the five-dimensional pose, the sixth dimension of the pose of the capsule is determined, and the method is beneficial to increasing the positioning updating frequency and keeping a certain positioning precision.
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 diagram of a tracking and positioning system for a wireless capsule endoscope according to 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;
FIG. 4 is a flow chart illustrating the steps of a method for tracking and locating a wireless capsule endoscope according to an embodiment of the present application;
FIG. 5 is a flow chart illustrating steps of another method for tracking and locating a wireless capsule endoscope according to an embodiment of the present application;
FIG. 6(a) is a schematic diagram of a sensor arrangement according to an embodiment of the present application;
FIG. 6(b) is a schematic view of another sensor arrangement according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a simulation test according to an embodiment of the present application;
FIG. 8 is a schematic view of a target arrangement according to an embodiment of the present application;
FIG. 9 is a schematic diagram of an activated sensor sub-array of one embodiment of the present application;
FIG. 10 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. 11 is a schematic illustration of a method of tracking and locating a wireless capsule endoscope according to an embodiment of the present application;
FIG. 12 is a schematic view of a tracking and locating device of a wireless capsule endoscope according to one embodiment of the present application;
fig. 13 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 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, the embodiments of the present application provide a tracking and positioning method and system for a wireless capsule endoscope, which can achieve precise positioning of a wireless capsule even in a wide-range complex environment.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic diagram of a tracking and positioning system of a wireless capsule endoscope is shown, which is composed of a bed 101, a magnetic sensor array 102, a robotic arm 103, a wireless capsule 104 and a data processing device (not shown in the figure), according to an embodiment of the present application. 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 drive motor 201 and an extracorporeal permanent magnet 202. The driving motor is rigidly connected with the external permanent magnet. The external permanent magnet can rotate around the axis of the rotation of the driving 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 thereof can be made orthogonal to the rotation axis of the drive motor. Thus, when the driving 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 driving 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 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 subarrays is researched, and the plurality of sensors can be activated from the large-scale magnetic sensor array through the arrangement of the optimal sensor subarrays, so that the working space is effectively enlarged and the power consumption of a system is reduced while high positioning frequency and high positioning accuracy are kept.
Referring to fig. 4, a schematic flow chart illustrating steps of a tracking and positioning method of a wireless capsule endoscope according to an embodiment of the present application is shown, which may specifically include the following steps:
and S401, when the wireless capsule is driven to move by the extracorporeal driver, activating the sensor sub-array from the magnetic sensor array.
It should be noted that the method can be applied to the tracking and positioning system of the wireless capsule endoscope, and the steps described in the method can be executed by a data processing device in the system. Namely, the execution subject of the embodiment of the application is the data processing device, and the sensor sub-arrays are activated based on the control command of the data processing device, so that the magnetic field data is measured, and the calculation of the wireless capsule positioning pose is completed.
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 contained 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 one possible implementation of the embodiments of the present application, a portion of the sensors may be activated to form a sensor sub-array. For example, at the beginning of the examination, some of the sensors may be randomly activated, and the location of the wireless capsule within the body may be initially determined by the activated sensors. Then, during the subsequent inspection, depending on the location of the wireless capsule, some of the sensors near that location are activated. By circularly executing the steps, when the wireless capsule is positioned at different positions in the human body, different sensors are respectively activated to form sensor sub-arrays, so that the whole inspection is completed.
In another possible implementation manner of the embodiment of the present application, the activated partial sensors may be arranged in a fixed arrangement manner. For example, the number of partial sensors corresponding to activation is the same, and the arrangement of the sensors is the same, based on the different locations where the wireless capsule is located.
In the embodiment of the application, an arrangement with the optimal precision can be determined from a plurality of different arrangement modes through a preliminary test. Then, the partial sensors activated each time are arranged according to the arrangement mode with the optimal precision, so that a positioning result with higher precision is obtained when the wireless capsule is subsequently positioned.
S402, measuring a magnetic field by adopting the sensor sub-array to obtain current magnetic field data, wherein the magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver.
In the embodiment of the present application, the activated sensor sub-array may be used to measure the magnetic field, resulting in current magnetic field data. The magnetic field is formed by the interaction of a permanent magnet in the extracorporeal driver and a permanent magnet ring in the wireless capsule.
S403, 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 the embodiment of the present application, the current magnetic field data can be used for calculating 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.
In a specific implementation, 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.
S404, performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, 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 general, when the sixth-dimensional pose of the wireless capsule is calculated according to the five-dimensional pose of the capsule, the five-dimensional pose can be processed respectively. For example, the three-dimensional position and the two-dimensional magnetic moment direction are respectively processed to obtain two advancing directions, and then the two advancing directions are fused, and the advancing direction obtained after fusion is used as the sixth-dimensional pose of the wireless capsule.
In a specific implementation, the process of processing the two-dimensional magnetic moment direction may be performing Normal Vector Fitting (NVF) on the two-dimensional magnetic moment direction, and obtaining the first forward direction by using an NVF algorithm
The three-dimensional position can be processed by adopting a Betz curve fitting and derivative (BCG) calculation mode, and the BCG algorithm is adopted to obtain the second advancing direction
Wherein, when the BCG algorithm is adopted to process to obtain the second advancing direction, the Gaussian Mixture Model (GMM) combined with the expectation-maximization (EM) algorithm can be used for clustering the position points in the track 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 second forward direction can be represented by the derivative of the end of the curve. For the first advancing direction
And a second forward direction
After the fusion, the final advancing direction can be obtained
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 a 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.
Therefore, in the embodiment of the application, normal vector fitting can be performed on the two-dimensional magnetic moment direction in the five-dimensional pose to obtain the sixth-dimensional pose of the wireless capsule, and the five-dimensional pose and the sixth-dimensional pose jointly form the positioning pose of the wireless capsule.
In the embodiment of the application, a large magnetic sensor array can be configured, and then when the wireless capsule is driven to move by using an extracorporeal driver, the sensor sub-array is activated from the magnetic sensor array and used for measuring a magnetic field generated by the interaction of a permanent magnet ring contained in the wireless capsule and an extracorporeal permanent magnet, so that the working space during the examination is greatly increased; based on the activated sensor subarray, the five-dimensional pose of the wireless capsule can be calculated firstly, then on the basis, normal vector fitting can be carried out on the two-dimensional magnetic moment direction in the five-dimensional pose, the sixth dimension of the pose of the capsule is determined, and the method is beneficial to increasing the positioning updating frequency and keeping a certain positioning precision.
Referring to fig. 5, a schematic flow chart illustrating steps of another tracking and positioning method for a wireless capsule endoscope according to an embodiment of the present application is shown, which may specifically include the following steps:
s501, obtaining a historical pose obtained when the wireless capsule is positioned at the previous time, wherein the historical pose is obtained through calculation based on magnetic field data obtained through measurement of the sensor sub-array activated at the previous time.
It should be noted that the method can be applied to the tracking and positioning system of the wireless capsule endoscope shown in fig. 1. For the introduction of the system, reference may be made to the description of the foregoing embodiments, which are not repeated herein.
In the embodiment of the application, when the wireless capsule is driven to inspect the digestive tract of a patient, the patient can swallow a wireless capsule firstly, and the wireless capsule can be obtained by embedding a permanent magnet ring into the existing general wireless capsule endoscope.
The patient should then lie flat in the examination table shown in fig. 1, and several sensors in a large magnetic sensor array arranged under the examination table may be activated for measuring the magnetic field generated by the interaction of the permanent magnet in the extracorporeal drive in fig. 1 and the permanent magnet ring in the wireless capsule described above.
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.
And S502, according to the historical pose, activating a sensor sub-array used for measuring the current magnetic field data from the magnetic sensor array.
In the embodiment of the application, according to the positioning pose obtained by the previous positioning, a plurality of target sensors in the magnetic sensor array below the examination bed can be activated 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. 6(a) and 6(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. 6(a) is an even grid, 4 sensors can be arranged in each row and each column, and fig. 6(a) actually arranges 2 sensors in each row and each column; fig. 6(b) is an odd grid, where 5 sensors can be arranged in each row and each column, and fig. 6(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 those shown in fig. 6(a) and fig. 6(b) may not be considered in the embodiments 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 arranged sensor sub-array, the positioning accuracy of the sensor sub-array can be tested in simulation. FIG. 7 is a schematic diagram of a simulation test according to an embodiment of the present application, wherein Pa、PcRepresenting 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. 7, 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. 8 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. 9 is a schematic diagram of an activated sensor sub-array according to one embodiment of the present application. In fig. 9, 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-mentioned 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.
In a possible implementation manner of the embodiment of the application, when the sensor sub-array for measuring the current magnetic field data is activated from the magnetic sensor array according to the historical pose, the corresponding point of the central point of the wireless capsule in the magnetic sensor array can be determined according to the historical pose obtained by the previous positioning; then, based on the corresponding point, a plurality of target sensors within a preset range of the corresponding point can be determined according to a preset target arrangement mode, and the determined plurality of target sensors are activated to form a sensor sub-array for measuring current magnetic field data. The plurality of target sensors arranged in the target arrangement mode have optimal positioning accuracy.
S503, measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, wherein the magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver.
S504, 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 the embodiment of the application, a five-dimensional pose of the wireless capsule can be calculated according to the measured superposed magnetic field based on a classical MOT algorithm, wherein the five-dimensional pose comprises a three-dimensional position and a two-dimensional magnetic moment direction.
And S505, determining a plurality of two-dimensional magnetic moment directions in a preset time period.
S506, fitting the advancing direction of the wireless capsule by adopting a common normal vector of the plurality of two-dimensional magnetic moment directions, taking the advancing direction as the sixth-dimensional pose of the wireless capsule, and forming the positioning pose of the wireless capsule by the five-dimensional pose and the sixth-dimensional pose together.
In the embodiment of the application, normal vector fitting can be performed on the two-dimensional magnetic moment direction in the five-dimensional pose, the advancing direction obtained after fitting is used as the sixth-dimensional pose of the wireless capsule, and the five-dimensional pose and the sixth-dimensional pose jointly form the positioning pose of the wireless capsule.
It should be noted that, when the normal vector fitting is performed on the two-dimensional magnetic moment direction to obtain the sixth-dimensional pose of the wireless capsule, it needs to be determined whether the angle of rotation of the wireless capsule around the capsule axis under the action of the external rotating magnetic field is sufficient, and only after the sufficient angle is rotated, the result of the normal vector fitting is the direction of the rotating shaft.
Therefore, in the embodiment of the present application, before performing normal vector fitting on the two-dimensional magnetic moment direction to obtain the sixth-dimensional pose of the wireless capsule, it should be further determined whether the angle value of the wireless capsule rotating around the capsule axis under the action of the extracorporeal driver is greater than the preset angle value. If the angle value of the rotation of the wireless capsule around the capsule axis is larger than the preset angle value, performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule; otherwise, the step of activating the sensor sub-array from the magnetic sensor array is performed.
In the embodiment of the application, since 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, the advancing direction of the wireless capsule can be fitted by a common normal vector of the magnetic moment directions for a plurality of times within a period of time.
Fig. 10 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. 10, when the wireless capsule is in a certain position (e.g., P)c1And the activated sensor subarray based on the previous historical pose is a subarray 1, the current five-dimensional pose of the wireless capsule can be calculated based on the magnetic field data of the subarray 1, and the sixth-dimensional pose of the wireless capsule can be obtained by performing normal vector fitting on the two-dimensional magnetic moment direction in the five-dimensional pose. Along with the movement of the wireless capsule in the human body, whenWireless capsule composed of Pc1Move to Pc2In 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 2c2And performing normal vector fitting on the two-dimensional magnetic moment direction in the current five-dimensional pose to obtain a sixth dimension of the current pose of the wireless capsule, wherein the sixth dimension and the five-dimensional pose jointly form the wireless capsule in the P directionc2And (4) positioning pose.
Fig. 11 is a schematic diagram illustrating a tracking and positioning method for a wireless capsule endoscope according to an embodiment of the present application. According to the flow shown in FIG. 11, the historical pose (P) obtained from the previous positioning of the wireless capsule can be usedcAnd
) The sensor sub-array is activated. Corresponding magnetic field data may be obtained by measuring the magnetic field using the activated sensor sub-arrays described above. Based on the magnetic field data, the current five-dimensional pose of the wireless capsule can be calculated by using a multi-magnetic target tracking algorithm. For the calculated five-dimensional pose, the angle value of the wireless capsule rotating around the capsule axis under the action of the in-vitro driver can be firstly judged
And judging whether the rotation angle of the wireless capsule is enough or not if the rotation angle is larger than the preset angle value. If yes, normal vector fitting can be carried out on the two-dimensional magnetic moment direction in the five-dimensional pose, and the advancing direction obtained after fitting is taken as the sixth-dimensional pose of the infinite capsule. The sixth-dimensional pose and the five-dimensional pose jointly form the current positioning pose of the wireless capsule. The new positioning pose can also act as a basis for activating the sensor subarray in the next positioning.
In the embodiment of the application, by providing a large-scale magnetic sensor array, the working space is greatly increased, so that the method can be suitable for a larger working space with a complex environment. Secondly, when the wireless capsule is positioned, the embodiment of the application only needs to use a plurality of sensors, and activates the sensors from the large-scale magnetic sensor array by determining the optimal arrangement mode of the sensor sub-arrays and by using the optimal arrangement of the sensor sub-arrays, so as to calculate the five-dimensional pose of the wireless capsule. On the basis, normal vector fitting can be carried out on the two-dimensional magnetic moment direction in the five-dimensional pose to determine the sixth dimension of the capsule pose. Thirdly, 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. 12, a schematic diagram of a positioning device of a wireless capsule endoscope according to an embodiment of the present application is shown, and specifically may include an activation module 1201, a measurement module 1202, a calculation module 1203, and a fitting module 1204, where:
the activation module is used for activating the sensor subarray from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver;
the measuring module is used for measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, and the magnetic field is generated by the interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver;
a calculation module, 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 fitting module is used for performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, 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 extracorporeal driver further comprises a drive motor, and a magnetic moment direction of the permanent magnet is orthogonal to a rotation axis of the drive motor; the magnetizing direction of the permanent magnet ring contained in the wireless capsule is orthogonal to the capsule axis of the wireless capsule.
In an embodiment of the present application, the apparatus further includes:
the judging module is used for judging whether the angle value of the wireless capsule rotating around the capsule axis under the action of the in-vitro driver is larger than a preset angle value or not; if the rotation angle value of the wireless capsule around the capsule axis is larger than the preset angle value, calling a fitting module to perform normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule; otherwise, calling an activation module to activate the sensor sub-array from the magnetic sensor array.
In an embodiment of the present application, the fitting module may include the following sub-modules:
the two-dimensional magnetic moment direction determining submodule is used for determining a plurality of two-dimensional magnetic moment directions in a preset time period;
and the normal vector fitting submodule is used for fitting the advancing direction of the wireless capsule by adopting a common normal vector of the plurality of two-dimensional magnetic moment directions, and taking the advancing direction as the sixth-dimensional pose of the wireless capsule.
In an embodiment of the present application, the activation module may include the following sub-modules:
a historical pose acquisition sub-module, configured to acquire a historical pose obtained when the wireless capsule was previously positioned, where the historical pose is calculated based on magnetic field data obtained by measurement of a sensor sub-array that was previously activated;
and the sensor sub-array activating sub-module is used for activating a sensor sub-array used for measuring the current magnetic field data from the magnetic sensor array according to the historical pose.
In the embodiment of the present application, the sensor sub-array activation sub-module may include the following units:
the corresponding point determining unit is used for determining a corresponding point of the central point of the wireless capsule in the magnetic sensor array according to the historical pose;
the target sensor determining unit is used for determining a plurality of target sensors within a preset range of the corresponding point according to a preset target arrangement mode based on the corresponding point, wherein the plurality of target sensors arranged according to the target arrangement mode have optimal positioning accuracy;
and the target sensor activation unit is used for activating the plurality of target sensors to form the sensor sub-array for measuring the current magnetic field data.
In the embodiment of the present application, the target arrangement manner is determined by calling the following modules:
the target sensor number determining module is used for determining the number of target sensors to be distributed in the sensor subarray;
the sensor arrangement mode generation module is used for generating a plurality of sensor arrangement modes to be tested based on the number of the target sensors to be arranged;
the simulation test module is used for respectively testing the positioning accuracy of each sensor arrangement mode to be tested through simulation test;
and the target arrangement mode determining module is used for determining the sensor arrangement mode with the optimal positioning precision as the target arrangement mode.
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. 13, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 13, the terminal device 1300 of the present embodiment includes: a processor 1310, a memory 1320, and a computer program 1321 stored in the memory 1320 and operable on the processor 1310. The processor 1310, when executing the computer program 1321, implements the steps in various embodiments of the method for positioning a wireless capsule endoscope described above, such as steps S401 to S404 shown in fig. 4. Alternatively, the processor 1310 implements the functions of the modules/units in the device embodiments, such as the functions of the modules 1201 to 1204 shown in fig. 12, when executing the computer program 1321.
Illustratively, the computer program 1321 may be partitioned into one or more modules/units that are stored in the memory 1320 and executed by the processor 1310 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 to describe the execution process of the computer program 1321 in the terminal device 1300. For example, the computer program 1321 may be divided into an activation module, a measurement module, a calculation module, and a fitting module, each module having the following specific functions:
the activation module is used for activating the sensor subarray from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver;
the measuring module is used for measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, and the magnetic field is generated by the interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver;
a calculation module, 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 fitting module is used for performing normal vector fitting on the two-dimensional magnetic moment direction to obtain a sixth-dimensional pose of the wireless capsule, and the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.
The terminal device 1300 may be a data processing device in the foregoing embodiments, such as a desktop computer, a notebook, a palm computer, a cloud server, and other computing devices. The terminal device 1300 may include, but is not limited to, a processor 1310 and a memory 1320. Those skilled in the art will appreciate that fig. 13 is only one example of a terminal device 1300 and does not constitute a limitation of the terminal device 1300, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 1300 may also include input and output devices, network access devices, buses, etc.
The Processor 1310 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, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 1320 may be an internal storage unit of the terminal device 1300, such as a hard disk or a memory of the terminal device 1300. The memory 1320 may also be an external storage device of the terminal device 1300, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 1300. Further, the memory 1320 may also include both an internal memory unit and an external memory device of the terminal device 1300. The memory 1320 is used for storing the computer program 1321 and other programs and data required by the terminal device 1300. The memory 1320 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 positioning method of the wireless capsule endoscope in the previous embodiments.
The present application further provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the positioning method of the wireless capsule endoscope described in the foregoing embodiments.
The embodiments of the present application also provide a computer program product, when the computer program product runs on a terminal device, the terminal device is caused to execute the positioning method of the wireless capsule endoscope described in the foregoing embodiments.
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 (8)
1. A positioning device for a wireless capsule endoscope, said device being adapted to perform the steps of:
activating a sensor sub-array from a magnetic sensor array when the wireless capsule is driven to move by an extracorporeal driver, wherein the magnetic sensor array is positioned below the examining table;
measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, wherein the magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver, and the permanent magnet is a spherical permanent magnet;
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;
judging whether the angle value of the wireless capsule rotating around the capsule axis under the action of the in-vitro driver is larger than a preset angle value or not;
if the rotation angle value of the wireless capsule around the capsule axis is larger than the preset angle value, determining a plurality of two-dimensional magnetic moment directions in a preset time period, fitting the advancing direction of the wireless capsule by adopting a common normal vector of the two-dimensional magnetic moment directions, and taking the advancing direction as a sixth-dimensional pose of the wireless capsule; otherwise, executing the step of activating the sensor sub-array from the magnetic sensor array;
and the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.
2. The device of claim 1, wherein the extracorporeal drive further comprises a drive motor, the magnetic moment direction of the permanent magnet being orthogonal to the axis of rotation of the drive motor; the magnetizing direction of the permanent magnet ring contained in the wireless capsule is orthogonal to the capsule axis of the wireless capsule.
3. The apparatus of claim 1 or 2, wherein the activating the sensor sub-array from the magnetic sensor array comprises:
acquiring a historical pose obtained when the wireless capsule is positioned at the previous time, wherein the historical pose is obtained by calculation based on magnetic field data obtained by measurement of a sensor subarray activated at the previous time;
and activating a sensor sub-array for measuring current magnetic field data from the magnetic sensor array according to the historical pose.
4. The apparatus of claim 3, wherein said activating a sensor sub-array from the magnetic sensor array for measuring current magnetic field data according to the historical pose comprises:
determining a corresponding point of a central point of the wireless capsule in the magnetic sensor array according to the historical pose;
determining a plurality of target sensors within a preset range of the corresponding point according to a preset target arrangement mode based on the corresponding point, wherein the plurality of target sensors arranged according to the target arrangement mode have optimal positioning accuracy;
activating the plurality of target sensors to form the sensor sub-array for measuring current magnetic field data.
5. The apparatus of claim 4, wherein the target arrangement is determined by applying the apparatus to perform the steps of:
determining the number of target sensors to be distributed in the sensor subarray;
generating a plurality of sensor arrangement modes to be tested based on the number of the target sensors to be arranged;
respectively testing the positioning accuracy of each sensor arrangement mode to be tested through simulation test;
and determining the sensor arrangement mode with the optimal positioning precision as the target arrangement mode.
6. A positioning device for a wireless capsule endoscope, comprising:
the activation module is used for activating the sensor sub-array from the magnetic sensor array when the wireless capsule is driven to move by the extracorporeal driver, and the magnetic sensor array is positioned below the examination bed;
the measuring module is used for measuring a magnetic field by adopting the sensor subarray to obtain current magnetic field data, the magnetic field is generated by the interaction of a permanent magnet ring contained in the wireless capsule and a permanent magnet contained in the extracorporeal driver, and the permanent magnet is a spherical permanent magnet;
a calculation module, 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;
the judging module is used for judging whether the angle value of the wireless capsule rotating around the capsule axis under the action of the in-vitro driver is larger than a preset angle value or not;
the fitting module is used for determining a plurality of two-dimensional magnetic moment directions in a preset time period if the rotation angle value of the wireless capsule around the capsule axis is larger than the preset angle value, fitting the advancing direction of the wireless capsule by adopting a common normal vector of the two-dimensional magnetic moment directions, and taking the advancing direction as the sixth-dimensional pose of the wireless capsule; otherwise, calling the activation module to activate the sensor sub-array from the magnetic sensor array
And the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule.
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 positioning 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 implements the steps performed by the positioning apparatus of a wireless capsule endoscope of any of claims 1-5.
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| CN113647893B (en) * | 2021-08-13 | 2022-06-10 | 元化智能科技(深圳)有限公司 | Autonomous navigation system, device and medium for wireless capsule endoscope |
| CN114532943B (en) * | 2022-03-18 | 2022-10-14 | 元化智能科技(深圳)有限公司 | Positioning system and computer equipment of wireless capsule endoscope based on magnetic drive |
| CN114469057A (en) * | 2022-04-01 | 2022-05-13 | 安翰科技(武汉)股份有限公司 | Wireless capsule positioning device, magnetic field sensor positioning method and device |
| CN115067863B (en) * | 2022-05-31 | 2023-03-14 | 元化智能科技(深圳)有限公司 | Wireless capsule endoscope driving system based on spherical driver |
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