CN112842226A - Magnetic positioning system of capsule endoscope - Google Patents
Magnetic positioning system of capsule endoscope Download PDFInfo
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- CN112842226A CN112842226A CN202010329339.1A CN202010329339A CN112842226A CN 112842226 A CN112842226 A CN 112842226A CN 202010329339 A CN202010329339 A CN 202010329339A CN 112842226 A CN112842226 A CN 112842226A
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- 239000002775 capsule Substances 0.000 title claims abstract description 136
- 230000006698 induction Effects 0.000 claims abstract description 102
- 230000003068 static effect Effects 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000001939 inductive effect Effects 0.000 claims description 6
- 230000035699 permeability Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000001079 digestive effect Effects 0.000 description 6
- 210000002784 stomach Anatomy 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 230000003902 lesion Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 210000003238 esophagus Anatomy 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 210000002429 large intestine Anatomy 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000813 small intestine Anatomy 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
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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 present disclosure describes a magnetic positioning system for a capsule endoscope, comprising: a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transmission/reception device; a magnetic control device for generating a static magnetic field and acting on a first magnet of the capsule endoscope; a positioning device for generating an alternating magnetic field distinct from the static magnetic field, a second magnetic axis of the alternating magnetic field being collinear with the first magnetic axis; and the processing device is used for acquiring the induction signal of the capsule endoscope and the physical parameters of the alternating magnetic field sensor and the positioning device, and obtaining the linear distance between the alternating magnetic field sensor and the positioning device based on the induction signal and the physical parameters. Therefore, the capsule endoscope positioned in the tissue cavity can be accurately positioned by avoiding the magnetic interference of the surrounding environment.
Description
Technical Field
The present disclosure generally relates to a magnetic positioning system for a capsule endoscope.
Background
With the development of modern medical technology, lesions of tissue cavities in the human body, such as polyps on the stomach wall, can be examined by swallowing a capsule endoscope, by which a doctor can be helped to acquire accurate information of lesion areas of the tissue cavities to assist the doctor in diagnosis and treatment of a patient. Such a capsule endoscope generally includes a magnet that can be magnetically acted on, an imaging device, and a wireless transmission device that transmits captured images to the outside. Specifically, a doctor, a nurse, or another operator controls an external magnetic control device to magnetically guide a capsule endoscope located in a tissue cavity so that the capsule endoscope moves in the tissue cavity, acquires an image of a specific position (for example, a lesion area) in the tissue cavity, transmits the acquired image to an external display device by wireless transmission or the like, and can examine and diagnose the tissue cavity of a patient by the display device, the doctor, or the like.
When examining the stomach using the above-described capsule endoscope, a doctor or the like needs to know a specific position of the capsule endoscope in the tissue cavity in order to better control the capsule endoscope located in the stomach. Conventionally, the position of the capsule endoscope is generally sensed by sensing the magnetic field intensity of the capsule endoscope using a magnetic sensor or a magnetic sensor array.
However, in the above-mentioned prior art, the magnetic field intensity sensed by the magnetic sensor or the magnetic sensor array is easily interfered by the magnetism such as the magnetic control device and the geomagnetic field, and thus the capsule endoscope cannot be accurately positioned. Therefore, the magnetic positioning system of the capsule endoscope can effectively eliminate the magnetic interference of the surrounding environment and accurately position the capsule endoscope in the tissue cavity.
Disclosure of Invention
The present disclosure has been made in view of the above-described state of the art, and an object thereof is to provide a magnetic positioning system for a capsule endoscope capable of effectively eliminating magnetic interference of the surrounding environment and accurately positioning the capsule endoscope located in a tissue cavity.
To this end, the present disclosure provides a magnetic positioning system for a capsule endoscope, comprising: a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transmission/reception device, the alternating magnetic field sensor transmitting an induction signal through the first wireless transmission/reception device; a magnetic control device for generating a static magnetic field and acting on the first magnet of the capsule endoscope, the capsule endoscope being positioned on a first magnetic axis of the static magnetic field, the magnetic control device controlling a position of the capsule endoscope by changing a magnitude of a magnetic field of the static magnetic field and a position of the first magnetic axis of the static magnetic field; a positioning device for generating an alternating magnetic field different from the static magnetic field, the positioning device positioning the capsule endoscope by a magnetic force applied to the alternating magnetic field sensor by the alternating magnetic field; and the processing device is used for acquiring the induction signal of the capsule endoscope and physical parameters of the alternating magnetic field sensor and the positioning device, and obtaining the linear distance between the alternating magnetic field sensor and the positioning device based on the induction signal and the physical parameters.
In the present disclosure, a static magnetic field generated by a magnetic control device is used to guide the movement of a capsule endoscope, a positioning device is used to generate an alternating magnetic field induced by an alternating magnetic field sensor in the capsule endoscope, and then a processing device obtains a linear distance between the alternating magnetic field sensor and the positioning device by using an induction signal of the capsule endoscope and physical parameters of the alternating magnetic field sensor and the positioning device, thereby avoiding magnetic interference of the surrounding environment and accurately positioning the capsule endoscope.
In addition, in the magnetic positioning system for a capsule endoscope according to the first aspect of the present disclosure, optionally, when the capsule endoscope is positioned by the positioning device, the second magnetic axis of the alternating magnetic field is collinear with the first magnetic axis. Therefore, the capsule endoscope can be more conveniently positioned.
In addition, in the magnetic positioning system of a capsule endoscope according to the first aspect of the present disclosure, the alternating magnetic field sensor may have a first induction coil for inducing the alternating magnetic field, and the induction signal may be obtained based on an induction current generated by the first induction coil. Therefore, the alternating magnetic field sensor can obtain the induction signal through the first induction coil, and the alternating magnetic field sensor can conveniently generate the induction signal.
In addition, in the magnetic positioning system of a capsule endoscope according to the first aspect of the present disclosure, optionally, the induction signal is an alternating magnetic induction intensity sensed by the alternating magnetic field sensor. Therefore, the alternating magnetic induction intensity of the position where the alternating magnetic field sensor is located can be measured.
In addition, in the magnetic positioning system for a capsule endoscope according to the first aspect of the present disclosure, optionally, a third magnetic axis of the first induction coil coincides with an axis of the capsule endoscope in a longitudinal direction. Thereby, the capsule endoscope can be more accurately positioned and controlled.
In the magnetic positioning system for a capsule endoscope according to the first aspect of the present disclosure, the magnetic control device may include a second induction coil and a second magnet, and the second magnet may be disposed around the second induction coil so as to be rotatable about a point intersecting a magnetic axis of the second induction coil. Thus, the capsule endoscope can be controlled by rotating the second magnet and controlling the magnitude of the current input to the second induction coil.
In addition, in the magnetic positioning system of a capsule endoscope relating to the first aspect of the present disclosure, the positioning device may have a third induction coil that generates the alternating magnetic field. In this case, by providing the third induction coil, an alternating magnetic field can be generated easily.
In addition, in the magnetic positioning system of a capsule endoscope relating to the first aspect of the present disclosure, optionally, the physical parameters include a bottom surface radius of the positioning device, an induced current and a magnetic permeability of the alternating magnetic field sensor. Therefore, the linear distance between the alternating magnetic field sensor and the positioning device can be obtained according to the radius of the bottom surface of the positioning device and the induced current and the magnetic permeability of the alternating magnetic field sensor.
Further, in the magnetic positioning system of a capsule endoscope relating to the first aspect of the present disclosure, optionally, the processing means is in accordance with a formula
And calculating to obtain a linear distance d between the capsule endoscope and the positioning device, wherein B is the alternating magnetic induction intensity, mu is the magnetic conductivity, r is the radius of the bottom surface, and I is the induced current. Thereby, the linear distance between the capsule endoscope and the positioning device can be obtained through calculation.
In addition, in the magnetic positioning system of a capsule endoscope according to the first aspect of the present disclosure, optionally, the system further includes a second wireless transceiver for receiving the induction signal, and the second wireless transceiver is communicatively connected to the processing device. Thereby, the sensing signal can be output to the processing device through the second wireless transceiver.
Further, in the magnetic positioning system of a capsule endoscope relating to the first aspect of the present disclosure, optionally, the magnetic control device controls the position of the first magnetic axis by moving or flipping the second magnet in a horizontal direction. Thereby, the movement of the capsule endoscope can be controlled by means of the movement of the second magnet.
In the present disclosure, the static magnetic field generated by the magnetic control device is used to guide the movement of the capsule endoscope in the subject, the positioning device is used to generate the alternating magnetic field induced by the alternating magnetic field sensor in the capsule endoscope, and then the processing device obtains the linear distance between the alternating magnetic field sensor and the positioning device by using the induction signal of the capsule endoscope and the physical parameters of the alternating magnetic field sensor and the positioning device, thereby accurately positioning the capsule endoscope positioned in the tissue cavity.
Drawings
Embodiments of the present disclosure will now be explained in further detail, by way of example only, with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram illustrating a magnetic positioning system of a capsule endoscope according to an embodiment of the present disclosure.
Fig. 2 is a perspective view schematically showing a capsule endoscope according to an embodiment of the present disclosure.
Fig. 3 is a schematic view showing an internal structure of a capsule endoscope according to an embodiment of the present disclosure.
Fig. 4 is a schematic diagram showing a capsule endoscope and a fourth magnetic axis thereof according to an embodiment of the present disclosure.
Fig. 5 is a schematic view illustrating a magnetron device according to an embodiment of the present disclosure.
Fig. 6 is a schematic diagram illustrating ranging of a capsule endoscope according to an embodiment of the present disclosure.
Description of reference numerals: 1 … magnetic positioning system, 2 … subject, 3 … tissue cavity, 10 … capsule endoscope, 11 … first magnet, 12 … alternating magnetic field sensor, 13 … first wireless transceiver, 14 … camera, 15 … power supply, 20 … magnetic control device, 30 … positioning device, 40 … processing device, 50 … second wireless transceiver, 60 … operating device, 70 … display device, 80 … examining table, 120 … first induction coil, 210 … second induction coil, 220 … second magnet, 310 … third induction coil.
Detailed Description
Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
Hereinafter, a magnetic positioning system according to the present disclosure will be described with reference to the drawings. The magnetic positioning system of the present disclosure can be used to position a capsule endoscope located inside a subject.
Fig. 1 is a schematic diagram showing a magnetic positioning system 1 of a capsule endoscope 10 according to an embodiment of the present disclosure. Fig. 2 is a perspective view schematically illustrating the capsule endoscope 10 according to the embodiment of the present disclosure. Fig. 3 is a schematic diagram showing the internal structure of the capsule endoscope 10 according to the embodiment of the present disclosure.
The magnetic positioning system 1 according to the present embodiment may include a capsule endoscope 10, a magnetron device 20, a positioning device 30, and a processing device 40 (see fig. 1). The capsule endoscope 10 may be positioned in the tissue cavity 3 of the subject 2, the magnetron device 20 may generate a static magnetic field and magnetically control the capsule endoscope 10 using the static magnetic field, the positioning device 30 may generate an alternating magnetic field and position the capsule endoscope 10 using the alternating magnetic field, and the processing device 40 may obtain a position of the capsule endoscope 10 in the tissue cavity 3 based on physical parameters such as magnetic field information.
In this case, the static magnetic field generated by the magnetron device 20 is used to guide the movement of the capsule endoscope 10 in the subject 2, the positioning device 30 is used to generate the alternating magnetic field induced by the alternating magnetic field sensor 12 in the capsule endoscope 10, and then the processing device 40 obtains the linear distance between the alternating magnetic field sensor 12 and the positioning device 30 by using the induction signal of the capsule endoscope 10 and the physical parameters of the alternating magnetic field sensor 12 and the positioning device 30. According to the method disclosed by the invention, the magnetic interference of the surrounding environment can be avoided, the capsule endoscope 10 positioned in the tissue cavity 3 can be accurately positioned, and the calculation mode is relatively simple and direct.
The capsule endoscope 10 according to the present embodiment is a medical device formed into a capsule shape that can be introduced into the tissue cavity 3 of the subject 2. The capsule endoscope 10 may be a capsule-type casing in appearance (see fig. 2). The capsule-shaped casing of the capsule endoscope 10 may be a capsule-shaped casing formed in a size that can be introduced into the subject 2. Wherein both end openings of the capsule-type casing are closed by a dome-shaped casing having a dome shape, thereby maintaining a liquid-tight state. The dome-shaped housing may be a transparent optical dome that transmits light of a prescribed wavelength band (e.g., visible light). Additionally, in some examples, the cylindrical housing may be a substantially opaque housing.
In this embodiment, the tissue cavity 3 may be a digestive lumen such as stomach, esophagus, large intestine, colon, small intestine, or the like. Additionally, in some examples, the tissue cavity 3 may also be a non-digestive cavity such as the abdominal cavity, the thoracic cavity, and the like. For digestive lumens such as stomach, esophagus, large intestine, etc., the capsule endoscope 10 may be edible to enter the digestive lumen, while for non-digestive lumens, the capsule endoscope 10 may be placed into the non-digestive lumen by opening a minimally invasive opening through a clinical procedure.
In the present embodiment, the capsule endoscope 10 may include a first magnet 11, an alternating magnetic field sensor 12 for inducing an alternating magnetic field, and a first wireless transmitting and receiving device 13 (see fig. 3) for data transmission with the outside.
In addition, in some examples, an imaging device 14 and a power supply 15 may also be disposed inside the capsule endoscope 10 (see fig. 3). The capsule endoscope 10 can capture an in-vivo image of the subject 2 by the imaging device 14.
In some examples, the alternating magnetic field sensor 12 may have a first induction coil 120 for inducing the alternating magnetic field, and derive an induction signal based on an induction current generated by the first induction coil 120. Specifically, in the present embodiment, when measuring the alternating magnetic field signal, the alternating magnetic field signal may be converted into an electrical signal for facilitating measurement by the alternating magnetic field sensor 12, and the alternating magnetic field sensor 12 is generally composed of an inductance coil (i.e., the first induction coil 120), i.e., a peripheral circuit component. Therefore, the induction signal can be obtained more conveniently.
In some examples, the sensing signal is an alternating magnetic induction intensity sensed by the alternating magnetic field sensor 12, and specifically, the sensing signal is an electrical signal converted from the sensed alternating magnetic field signal by the first induction coil 120 and the peripheral circuit components connected thereto. And the alternating magnetic field sensor 12 can transmit the induction line number to the outside of the subject 2 through the first wireless transmission/reception device 13. This enables the measurement of the alternating magnetic induction intensity generated by the positioning device 30.
Fig. 4 is a schematic diagram illustrating the fourth magnetic axis L4 of the capsule endoscope 10 according to the embodiment of the present disclosure.
As shown in fig. 4, in some examples, third magnetic axis L3 of first induction coil 120 coincides with the axis of capsule endoscope 10 along its length (fourth magnetic axis L4), and thus, when capsule endoscope 10 is positioned using positioning device 30, capsule endoscope 10 may be constrained to second magnetic axis L2 of positioning device 30. This enables the processing device 40 to calculate the equation used when calculating the linear distance between the alternating magnetic field sensor 12 and the positioning device 30, thereby more accurately positioning the capsule endoscope 10.
Fig. 5 is a schematic diagram illustrating a magnetron device 20 according to an embodiment of the present disclosure.
In the present embodiment, the capsule endoscope 10 is movable in the space in the tissue cavity 3 by the variable static magnetic field generated by the magnetron device 20.
Referring to fig. 5, in the present embodiment, the magnetron device 20 may be used to generate a static magnetic field and act on the first magnet 11 of the capsule endoscope 10, the capsule endoscope 10 is positioned on the first magnetic axis L1 of the static magnetic field, and the magnetron device 20 may control the position of the capsule endoscope 10 by changing the magnitude and direction of the magnetic field strength of the static magnetic field and the position of the first magnetic axis L1 of the static magnetic field. The first magnet 11 restrains the capsule endoscope 10 to the first magnetic axis L1 by the magnetic force of the static magnetic field generated by the magnetron 20, and the position of the capsule endoscope 10 can be controlled by controlling the magnitude and direction of the magnetic field of the static magnetic field generated by the magnetron 20.
In some examples, the magnetron device 20 may include a second induction coil 210 and a second magnet 220, and the second magnet 220 is arranged around the second induction coil 210 in such a manner as to be rotatable centering on a point intersecting with a magnetic axis of the second induction coil 210. Specifically, when the second magnet 220 is a cylinder, the second induction coil 210 forms a hollow structure having a spatial size such that the second magnet 220 freely rotates in the hollow structure. In this case, by disposing the second induction coil 210 and the second magnet 220 on the same side, the magnetic field force generated by the second induction coil 210 and the second magnet 220 can be more concentrated, and the capsule endoscope 10 can be controlled by changing the magnitude and direction of the current passed to the second induction coil 210 and rotating the second magnet 220, whereby the moving path of the capsule endoscope 10 can be more precisely controlled.
In some examples, the second induction coil 210 may generate a static magnetic field (constant magnetic field) by passing a direct current into the second induction coil 210, and the magnitude of the static magnetic field generated by the second induction coil 210 may be changed by changing the magnitude and direction of the direct current passed into the second induction coil 210. In this case, by the arrangement of the second induction coil 210 and the second magnet 220, the moving path of the capsule endoscope 10 can be controlled more precisely.
In some examples, the magnetron 20 may control the position of the first magnetic axis L1 by moving or flipping the second magnet 220 in a horizontal direction. Thus, the movement of the capsule endoscope 10 can be controlled by the movement of the second magnet 220.
In some examples, the second magnet 220 may be a cylinder. In this case, the capsule endoscope 10 can be driven to deflect by deflecting the spherical body to change the polarity of the second magnet 220, so that the capsule endoscope 10 can perform image acquisition at different deflection angles. In other examples, the second magnet 220 may also be an ellipsoid, a sphere, or the like. In some examples, when the second magnet 220 is a cylinder, the second magnet 220 is disposed around the second induction coil 210 in such a manner as to be rotatable centering on a point intersecting the magnetic axis of the second induction coil 210. Specifically, when the second magnet 220 is a cylinder, the second induction coil 210 forms a hollow structure having a spatial size such that the second magnet 220 freely rotates in the hollow structure.
In addition, in some examples, the magnitude of the variable magnetic field may be controlled by varying the magnitude of the current of the second induction coil 210, while the direction of the variable magnetic field may be controlled by varying the relative position of the second induction coil 210 with respect to the first magnet 11. In some examples, the magnetic field strength of the variable magnetic field may be increased by increasing the current of the second induction coil 210 and decreased by decreasing the current of the second induction coil 210. In some examples, second induction coil 210 may be brought closer to first magnet 11 to increase the magnetic field strength of the variable magnetic field, and second induction coil 210 may be brought further from first magnet 11 to decrease the magnetic field strength of the variable magnetic field. Additionally, in some examples, the relative position of the second induction coil 210 with respect to the first magnet 11 may be changed by moving the second induction coil 210. In other examples, the relative position of the second induction coil 210 with respect to the first magnet 11 may also be changed by moving the position of the subject 2.
Further, in some examples, the polarity of the magnetic field generated by second inductive coil 210 can be changed by changing the direction of current flow in second inductive coil 210. In some examples, the second induction coil 210 may be caused to generate an upward magnetic force on the capsule endoscope 10 by passing a forward current through the second induction coil 210; by passing a reverse current through the second induction coil 210, the second induction coil 210 can generate a downward magnetic force on the capsule endoscope 10.
In some examples, the current through the second induction coil 210 may be direct current. This enables the second induction coil 210 to generate a constant magnetic field.
In the present embodiment, the positioning device 30 can be used to generate an alternating magnetic field that is different from the static magnetic field, and the second magnetic axis L2 of the alternating magnetic field is collinear with the first magnetic axis L1 (see fig. 5)
In some examples, the positioning device 30 may be the third induction coil 310 with alternating current, i.e., the positioning device 30 may generate an alternating magnetic field by passing alternating current through the third induction coil 310.
In some examples, while controlling the capsule endoscope 10 with the magnetron 20 and positioning the capsule endoscope 10 with the positioning device 30, the magnetron 20 and the positioning device 30 move while maintaining the relative positions unchanged (even though the first magnetic axis L1 and the second magnetic axis L2 coincide). In some examples, the positioning device 30 in fig. 1 is not fixed to the examination table 80, but is located below the examination table 80 (described later).
Fig. 5 is a schematic diagram illustrating a magnetron device 20 according to an embodiment of the present disclosure. Fig. 6 is a schematic diagram illustrating distance measurement of the capsule endoscope 10 according to the embodiment of the present disclosure.
In the present embodiment, the processing device 40 may be configured to acquire the induction signal of the capsule endoscope 10 and the physical parameters of the alternating magnetic field sensor 12 and the positioning device 30, and obtain the linear distance between the alternating magnetic field sensor 12 and the positioning device 30 based on the induction signal and the physical parameters.
In some examples, the physical parameters include a radius r of a bottom surface of the positioning device 30, an induced current I and a magnetic permeability μ of the alternating magnetic field sensor 12. Thereby, physical parameters of the positioning device 30 and the alternating magnetic field sensor 12 can be obtained.
Referring to fig. 5 and 6, in some examples, when capsule endoscope 10 is stationary after movement to lie on first magnetic axis L1 and second magnetic axis L2 as shown, at which time third magnetic axis L3 of first induction coil 120 in capsule endoscope 10 also coincides with first magnetic axis L1, processing device 40 is in accordance with the formula
The linear distance between the capsule endoscope 10 and the positioning device 30 is calculated. Where B is the alternating magnetic induction, μ is the magnetic permeability of the alternating magnetic field sensor 12, r is the bottom radius of the third induction coil 310, I is the magnitude of the current flowing through the third induction coil 310, and B, μ, r, and I are known physical parameters, so that it can be substituted into the above formula to obtain the linear distance d (i.e., the distance in the z-axis direction) between the capsule endoscope 10 and the center O of the positioning device 30. And the distance in the x-direction and in the y-direction perpendicular to the plane of the paper can be determined by the distance moved by the positioning device 30 in the x-y plane.
In some examples, the magnetic positioning system 1 may further comprise a second wireless transceiver 50. The second wireless transceiver 50 may be used to receive the sensing signal from the capsule endoscope 10, and the second wireless transceiver 50 may be communicatively connected to the processing device 40 to transmit the received sensing signal to the processing device 40.
Additionally, in some examples, the second wireless transceiver device 50 may receive images taken by the capsule endoscope 10 transmitted by the first wireless transceiver device 13 about within the tissue cavity 3. In other examples, the first wireless transceiver 13 may receive a signal of a particular frequency transmitted by the second wireless transceiver 50 to activate the capsule endoscope 10 to operate the capsule endoscope 10 within the subject.
In some examples, the magnetic positioning system 1 may further comprise an operating device 60. The operating device 60 can be used to operate the magnetic control device 20.
In some examples, the magnetic positioning system 1 may also include a display device 70. Display device 70 may be used to display image information acquired by capsule endoscope 10 within tissue cavity 3.
In some examples, the magnetic positioning system 1 may also include an examination couch 80. The bed 80 can be used to carry the subject 2.
Hereinafter, a method and a flow of positioning the capsule endoscope 10 in the tissue cavity 3 of the subject 2 by the magnetic positioning apparatus 1 according to the present disclosure will be described in detail with reference to the drawings.
In the present embodiment, the subject 2 can orally take the capsule endoscope 10, and lie the subject 2 on the examination table 80 as shown in fig. 1. At this time, the operator can manipulate the magnetic control device 20 (for example, adjust the magnitude or direction of the current flowing through the second induction coil 210 and control the rotation of the second magnet 220) to control the capsule endoscope 10 to move in the tissue cavity 3 of the subject 2, so as to capture the image in the tissue cavity 3 through the imaging device 14 of the capsule endoscope 10.
In the present embodiment, when positioning the capsule endoscope 10 by the positioning device 30, the capsule endoscope 10 may be stabilized on the first minor axis L1 (the second magnetic axis L2), the magnetic axis L3 of the alternating magnetic field sensor 12 in the capsule endoscope 10 may be made to coincide with the first minor axis L1, and the linear distance (i.e., the vertical distance) of the alternating magnetic field sensor 12 from the center O of the positioning device 30 may be assumed as d. At this time, the alternating magnetic field sensor 12 in the capsule endoscope 10 can sense the alternating magnetic induction B generated by the positioning device 30 (the third induction coil 310), and the alternating magnetic induction B is converted into a sensing signal (e.g., an electrical signal) by the alternating magnetic field sensor 12 and the peripheral circuit components of the alternating magnetic field sensor 12, and then the sensing signal is output by the first wireless transceiver 13 in the capsule endoscope 10 to the second wireless transceiver 50, and finally received by the processing device 40.
In addition, the alternating magnetic induction B of the positioning device sensed by the alternating magnetic field sensor 12, the magnetic permeability μ of the alternating magnetic field sensor 12, the bottom radius r of the third induction coil 310, and the bottom radius r of the third induction coil 310 are known parameters, so the processing device 40 can use the formula to calculate the magnetic field strength according to the formula
The linear distance d (i.e., the distance in the z-axis direction) between the capsule endoscope 10 and the positioning device 30 is calculated. And the distance in the x-direction and in the y-direction perpendicular to the plane of the paper can be determined by the distance moved by the positioning device 30 in the x-y plane. This makes it possible to accurately position the capsule endoscope 10 located in the tissue cavity 3 while avoiding magnetic interference from the surrounding environment.
While the present disclosure has been described in detail in connection with the drawings and examples, it should be understood that the above description is not intended to limit the disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as needed without departing from the true spirit and scope of the disclosure, which fall within the scope of the disclosure.
Claims (10)
1. A magnetic positioning system of a capsule endoscope is characterized in that,
the method comprises the following steps:
a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transmission/reception device, the alternating magnetic field sensor transmitting an induction signal through the first wireless transmission/reception device;
a magnetic control device for generating a static magnetic field and acting on the first magnet of the capsule endoscope, the capsule endoscope being positioned on a first magnetic axis of the static magnetic field, the magnetic control device controlling a position of the capsule endoscope by changing a magnitude of a magnetic field of the static magnetic field and a position of the first magnetic axis of the static magnetic field;
a positioning device for generating an alternating magnetic field different from the static magnetic field, the positioning device positioning the capsule endoscope by a magnetic force applied to the alternating magnetic field sensor by the alternating magnetic field; and
and the processing device is used for acquiring the induction signal of the capsule endoscope and the physical parameters of the alternating magnetic field sensor and the positioning device, and obtaining the linear distance between the alternating magnetic field sensor and the positioning device based on the induction signal and the physical parameters.
2. The magnetic positioning system of claim 1, wherein:
when the capsule endoscope is positioned by the positioning device, the second magnetic axis of the alternating magnetic field is collinear with the first magnetic axis.
3. The magnetic positioning system of claim 1, wherein:
the alternating magnetic field sensor is provided with a first induction coil used for inducing the alternating magnetic field, and the induction signal is obtained based on induction current generated by the first induction coil.
4. A magnetic positioning system as claimed in claim 3 wherein:
the induction signal is alternating magnetic induction intensity sensed by the alternating magnetic field sensor.
5. A magnetic positioning system as claimed in claim 3 wherein:
the third magnetic axis of the first induction coil is coincident with the axis of the capsule endoscope in the length direction.
6. The magnetic positioning system of claim 1, wherein:
the magnetron device includes a second induction coil and a second magnet, and the second magnet is disposed around the second induction coil so as to be rotatable around a point intersecting a magnetic axis of the second induction coil.
7. The magnetic positioning system of claim 1, wherein:
the positioning device has a third induction coil which generates the alternating magnetic field.
8. The magnetic positioning system of claim 1, wherein:
the physical parameters include a radius of a bottom surface of the positioning device, an induced current and a magnetic permeability of the alternating magnetic field sensor.
9. A magnetic positioning system as claimed in claim 3 or 8, characterized in that:
the processing device is according to the formula
And calculating to obtain a linear distance d between the capsule endoscope and the positioning device, wherein B is the alternating magnetic induction intensity, mu is the magnetic conductivity, r is the radius of the bottom surface, and I is the induced current.
10. The magnetic positioning system of claim 1, wherein:
the device also comprises a second wireless transceiver for receiving the induction signal, and the second wireless transceiver is in communication connection with the processing device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410061445.4A CN117860174A (en) | 2019-11-27 | 2020-04-23 | System for positioning capsule endoscope |
| CN202410060253.1A CN117770737A (en) | 2019-11-27 | 2020-04-23 | Magnetic positioning method and magnetic positioning system for capsule endoscope |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019111847175 | 2019-11-27 | ||
| CN201911184717 | 2019-11-27 |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410061445.4A Division CN117860174A (en) | 2019-11-27 | 2020-04-23 | System for positioning capsule endoscope |
| CN202410060253.1A Division CN117770737A (en) | 2019-11-27 | 2020-04-23 | Magnetic positioning method and magnetic positioning system for capsule endoscope |
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| CN202410060253.1A Pending CN117770737A (en) | 2019-11-27 | 2020-04-23 | Magnetic positioning method and magnetic positioning system for capsule endoscope |
| CN202410061445.4A Pending CN117860174A (en) | 2019-11-27 | 2020-04-23 | System for positioning capsule endoscope |
| CN202010329339.1A Active CN112842226B (en) | 2019-11-27 | 2020-04-23 | Magnetic positioning system of capsule endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114159163A (en) * | 2021-12-13 | 2022-03-11 | 南开大学 | Soft-lens-oriented magnetic navigation system and method |
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| Publication number | Publication date |
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| CN117860174A (en) | 2024-04-12 |
| CN117770737A (en) | 2024-03-29 |
| CN112842226B (en) | 2023-11-24 |
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