CN112842226B - Magnetic positioning system of capsule endoscope - Google Patents
Magnetic positioning system of capsule endoscope Download PDFInfo
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- CN112842226B CN112842226B CN202010329339.1A CN202010329339A CN112842226B CN 112842226 B CN112842226 B CN 112842226B CN 202010329339 A CN202010329339 A CN 202010329339A CN 112842226 B CN112842226 B CN 112842226B
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- 239000002775 capsule Substances 0.000 title claims abstract description 136
- 230000006698 induction Effects 0.000 claims abstract description 109
- 230000003068 static effect Effects 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 22
- 230000035699 permeability Effects 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000001079 digestive effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000002784 stomach Anatomy 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method 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
- 238000003384 imaging method Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 210000002429 large intestine Anatomy 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 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
- 238000005516 engineering process Methods 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 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
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Abstract
The present disclosure describes a magnetic positioning system of a capsule endoscope, comprising: a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transceiver; magnetic control means 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 signals 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 signals and the physical parameters. Thus, the capsule endoscope positioned in the tissue cavity can be accurately positioned while avoiding magnetic interference of the surrounding environment.
Description
Technical Field
The present disclosure relates generally to a magnetic positioning system for a capsule endoscope.
Background
With the development of modern medical technology, lesions of a tissue cavity (such as polyps on a stomach wall) in a human body can be inspected by swallowing a capsule-type endoscope, and a doctor can be assisted in acquiring accurate information of a focus area of the tissue cavity through the capsule-type endoscope so as to assist the doctor in diagnosing and treating the patient. Such a capsule endoscope generally has a magnet that can be magnetically acted on, an imaging device, and a wireless transmission device that transmits an acquired image to the outside. Specifically, a doctor, nurse or other operator magnetically guides a capsule-type endoscope positioned in a tissue cavity by controlling an external magnetic control device so that the capsule-type endoscope moves in the tissue cavity, acquires an image of a specific position (for example, a lesion area) in the tissue cavity, and then transmits the acquired image to an external display device by wireless transmission or the like, by which the doctor or the like can examine and diagnose the tissue cavity of the patient.
When the above-described capsule endoscope is used for examination of the stomach, in order to better control the capsule endoscope located in the stomach, a doctor or the like needs to know the specific position of the capsule endoscope in the tissue cavity. In the prior art, the position of a capsule-type endoscope is generally sensed in such a way that a magnetic sensor or a magnetic sensor array senses the magnetic field strength of the capsule-type endoscope.
However, in the above prior art, the intensity of the magnetic field sensed by the magnetic sensor or the magnetic sensor array is easily disturbed by magnetism such as a magnetic control device and a geomagnetic field, so that the capsule endoscope cannot be positioned accurately. To this end, the present disclosure proposes a magnetic positioning system of a capsule endoscope capable of effectively eliminating magnetic interference of the surrounding environment and accurately positioning the capsule endoscope located in a tissue cavity.
Disclosure of Invention
The present disclosure has been made in view of the above-described conventional art, and an object thereof is to provide a magnetic positioning system of 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 of a capsule endoscope, comprising: a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transceiver, the alternating magnetic field sensor transmitting an induction signal through the first wireless transceiver; a magnetic control means for generating a static magnetic field and acting on the first magnet of the capsule endoscope, the capsule endoscope being located on a first magnetic axis of the static magnetic field, the magnetic control means controlling a position of the capsule endoscope by changing a magnitude of a magnetic field strength 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 using a magnetic force applied by the alternating magnetic field to the alternating magnetic field sensor; and the processing device is used for acquiring the induction signals of the capsule endoscope and the physical parameters of the alternating magnetic field sensor and the positioning device, and acquiring the linear distance between the alternating magnetic field sensor and the positioning device based on the induction signals and the physical parameters.
In the present disclosure, the static magnetic field generated by the magnetic control device is used to guide the capsule endoscope to move, 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 avoiding the magnetic interference of the surrounding environment and accurately positioning the capsule endoscope.
In addition, in the magnetic positioning system of the 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 positioned more conveniently.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the alternating magnetic field sensor has a first induction coil for inducing the alternating magnetic field, and the induction signal is obtained based on an induction current generated by the first induction coil. Thus, 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 the 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. Thus, 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 of the capsule endoscope according to the first aspect of the present disclosure, optionally, the third magnetic axis of the first induction coil coincides with the axis of the capsule endoscope in the length direction. Thus, the capsule endoscope can be positioned and controlled more accurately.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the magnetic control means includes a second induction coil and a second magnet, and the second magnet is arranged around the second induction coil in such a manner 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 the capsule endoscope according to the first aspect of the present disclosure, optionally, the positioning device has a third induction coil that generates the alternating magnetic field. In this case, by providing the third induction coil, the alternating magnetic field can be conveniently generated.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the physical parameters include a bottom surface radius of the positioning device, an induced current of the alternating magnetic field sensor, and magnetic permeability. Thus, the linear distance between the alternating magnetic field sensor and the positioning device can be obtained according to the bottom radius of the positioning device, the induction current of the alternating magnetic field sensor and the magnetic permeability.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the processing device may further include a magnetic sensor configured to detect a magnetic sensorAnd calculating to obtain the linear distance d between the capsule endoscope and the positioning device, wherein B is the alternating magnetic induction intensity, mu is the magnetic permeability, r is the bottom radius, and I is the induced current. Thus, the linear distance between the capsule endoscope and the positioning device can be obtained by calculation.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, a second wireless transceiver for receiving the induction signal is further included, and the second wireless transceiver is communicatively connected to the processing device. Thus, the sensing signal can be outputted to the processing device through the second wireless transceiver.
In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the magnetic control means 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 the movement of the second magnet.
In the present disclosure, the static magnetic field generated by the magnetic control means is used to guide the capsule endoscope to move in the subject, the positioning means is used to generate an alternating magnetic field induced by the alternating magnetic field sensor in the capsule endoscope, and then the processing means obtains the linear distance between the alternating magnetic field sensor and the positioning means by using the induction signal of the capsule endoscope and the physical parameters of the alternating magnetic field sensor and the positioning means, thereby enabling accurate positioning of the capsule endoscope located 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 illustrating 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 view showing a capsule endoscope and a fourth magnetic axis thereof according to an embodiment of the present disclosure.
FIG. 5 is a schematic diagram illustrating a magnetic control device according to an embodiment of the present disclosure.
Fig. 6 is a schematic view illustrating ranging of a capsule endoscope according to an embodiment of the present disclosure.
Description of the 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 device, 15 … power supply, 20 … magnetic control device, 30 … positioning device, 40 … processing device, 50 … second wireless transceiver device, 60 … operating device, 70 … display device, 80 … examination bed, 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 members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
Hereinafter, a magnetic positioning system according to the present disclosure will be described with reference to the accompanying drawings. The magnetic positioning system according to the present disclosure can be used for positioning a capsule endoscope located in 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 illustrating the capsule endoscope 10 according to the embodiment of the present disclosure. Fig. 3 is a schematic view showing an 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 magnetic control device 20, a positioning device 30, and a processing device 40 (see fig. 1). Wherein the capsule endoscope 10 can be positioned in the tissue cavity 3 of the subject 2, the magnetic control device 20 can generate a static magnetic field and can magnetically control the capsule endoscope 10 by using the static magnetic field, the positioning device 30 can generate an alternating magnetic field and position the capsule endoscope 10 by using the alternating magnetic field, and the processing device 40 can obtain the positioning 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 magnetic control device 20 is used to guide the capsule endoscope 10 to move within the subject 2, the positioning device 30 is used to generate an alternating magnetic field induced by the alternating magnetic field sensor 12 in the capsule endoscope 10, and then the processing device 40 uses the induction signal of the capsule endoscope 10 and the physical parameters of the alternating magnetic field sensor 12 and the positioning device 30 to obtain the linear distance between the alternating magnetic field sensor 12 and the positioning device 30. According to the above method of the present disclosure, magnetic interference of the surrounding environment can be avoided, and the capsule endoscope 10 positioned in the tissue cavity 3 can be accurately positioned, and the calculation manner is relatively simple and direct.
The capsule endoscope 10 according to the present embodiment is a medical device which is formed so as to be capable of being introduced into the tissue cavity 3 of the subject 2 and is shaped like a capsule. From an external perspective, the capsule endoscope 10 may be in the form of a capsule-shaped housing (see fig. 2). The capsule type housing of the capsule endoscope 10 may be a capsule type housing formed in a size that can be introduced into the subject 2. Wherein both end openings of the capsule type housing are plugged by a dome type housing having a dome shape, thereby maintaining a liquid-tight state. The dome-shaped housing may be a transparent optical dome that transmits light (e.g., visible light) in a prescribed wavelength band. Additionally, in some examples, the cylindrical housing may be a substantially opaque housing.
In the present embodiment, the tissue cavity 3 may be a digestive cavity such as stomach, esophagus, large intestine, colon, small intestine, or the like. In addition, 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 the stomach, esophagus, large intestine, etc., the capsule endoscope 10 may be consumed to access 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 for clinical procedures.
In the present embodiment, the capsule endoscope 10 may include a first magnet 11, an alternating magnetic field sensor 12 for sensing an alternating magnetic field, and a first wireless transceiver 13 (see fig. 3) for data transmission with the outside.
In addition, in some examples, the inside of the capsule endoscope 10 may also be arranged with an image pickup device 14 and a power supply 15 (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 an 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 electric signal that facilitates measurement by the alternating magnetic field sensor 12, and the alternating magnetic field sensor 12 is typically composed of an inductance coil (i.e., the first induction coil 120), i.e., a peripheral circuit component. Thus, the induction signal can be obtained more conveniently.
In some examples, the induction signal is an alternating magnetic induction intensity sensed by the alternating magnetic field sensor 12, and in particular, the induction signal is an electrical signal obtained by converting the sensed alternating magnetic field signal by the first induction coil 120 and a peripheral circuit component 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 transceiver 13. Thereby, the alternating magnetic induction generated by the positioning device 30 can be measured.
Fig. 4 is a schematic view showing a 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, the third magnetic axis L3 of the first induction coil 120 coincides with the axis of the capsule endoscope 10 along its length direction (the fourth magnetic axis L4), and therefore, when the capsule endoscope 10 is positioned by the positioning device 30, the capsule endoscope 10 can be restrained on the second magnetic axis L2 of the positioning device 30. Thus, the processing device 40 can calculate the equation used for calculating the linear distance between the alternating magnetic field sensor 12 and the positioning device 30, so as to more accurately position the capsule endoscope 10.
Fig. 5 is a schematic diagram illustrating a magnetic control 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 magnetic control device 20.
Referring to fig. 5, in the present embodiment, the magnetic control 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 located on the first magnetic axis L1 of the static magnetic field, and the magnetic control 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 on the first magnetic axis L1 by the magnetic force of the static magnetic field generated by the magnetic control device 20, and further, 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 magnetic control device 20.
In some examples, magnetic control device 20 may include second induction coil 210 and second magnet 220, with second magnet 220 being disposed around second induction coil 210 in a manner that enables rotation about a point intersecting the magnetic axis of second induction coil 210. Specifically, when the second magnet 220 is a cylinder, the hollow structure formed by the second induction coil 210 may have a space size such that the second magnet 220 freely rotates in the hollow structure. In this case, by arranging 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 flowing into the second induction coil 210 and rotating the second magnet 220, whereby the moving path of the capsule endoscope 10 can be controlled more accurately.
In some examples, the second induction coil 210 may be caused to 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 accurately.
In some examples, magnetic control device 20 may control the position of first magnetic axis L1 by moving or flipping second magnet 220 in a horizontal direction. Thereby, 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 sphere 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 or sphere, etc. In some examples, when the second magnet 220 is a cylinder, the second magnet 220 is arranged around the second induction coil 210 in such a manner as to be rotatable about a point intersecting the magnetic axis of the second induction coil 210. Specifically, when the second magnet 220 is a cylinder, the hollow structure formed by the second induction coil 210 may have a space 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 the magnetic field strength of the variable magnetic field may be decreased by decreasing the current of the second induction coil 210. In some examples, the second induction coil 210 may be brought close to the first magnet 11 to increase the magnetic field strength of the variable magnetic field, and the second induction coil 210 may be brought away from the 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 the second induction coil 210 may be changed by changing the direction of the current of the second induction coil 210. In some examples, by passing a forward current through second induction coil 210, second induction coil 210 may be caused to generate an upward magnetic force on capsule endoscope 10; by applying a reverse current to the second induction coil 210, the second induction coil 210 can generate a downward magnetic force to the capsule endoscope 10.
In some examples, the current through the second induction coil 210 may be direct current. Thereby, the second induction coil 210 can generate a constant magnetic field.
In the present embodiment, the positioning device 30 may be used to generate an alternating magnetic field different from the static magnetic field, the second magnetic axis L2 of which is collinear with the first magnetic axis L1 (see fig. 5)
In some examples, the positioning device 30 may be a third induction coil 310 with an alternating current, i.e., the positioning device 30 may be caused to generate an alternating magnetic field by energizing the third induction coil 310 with an alternating current.
In some examples, when controlling capsule endoscope 10 with magnetic control device 20 and positioning capsule endoscope 10 with positioning device 30, magnetic control device 20 and positioning device 30 remain in a relative position (even if first magnetic axis L1 and second magnetic axis L2 coincide) while moving. In some examples, the positioning device 30 in fig. 1 is not fixed to the couch 80, but is located below the couch 80 (described later).
Fig. 5 is a schematic diagram illustrating a magnetic control device 20 according to an embodiment of the present disclosure. Fig. 6 is a schematic view illustrating ranging 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 sensing 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 sensing signal and the physical parameters.
In some examples, the physical parameters include a bottom radius r of the positioning device 30, an induced current I of the alternating magnetic field sensor 12, and a permeability μ. Thereby, the physical parameters of the positioning device 30 and the alternating magnetic field sensor 12 can be obtained.
Referring to FIGS. 5 and 6, in oneIn some examples, when the capsule endoscope 10 is stationary after moving and positioned at the first magnetic axis L1 and the second magnetic axis L2 as shown, and at this time, the third magnetic axis L3 of the first induction coil 120 in the capsule endoscope 10 also coincides with the first magnetic axis L1, the processing device 40 follows the formulaThe linear distance between the capsule endoscope 10 and the positioning device 30 is calculated. Where B is the alternating magnetic induction intensity, 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, I are all known physical parameters, so that they can be brought into the above equation to find 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 the y-direction perpendicular to the page may be determined by the distance that positioning device 30 moves in the x-y plane.
In some examples, the magnetic positioning system 1 may further comprise a second wireless transceiver device 50. The second transceiver 50 may be configured to receive the sensor signal from the capsule endoscope 10, and the second transceiver 50 may be communicatively coupled to the processing device 40 to transmit the received sensor signal to the processing device 40.
Additionally, in some examples, the second wireless transceiver 50 may receive images captured by the capsule endoscope 10 transmitted by the first wireless transceiver 13 regarding the interior of the tissue cavity 3. In other examples, the first wireless transceiver 13 may receive a signal of a specific frequency transmitted by the second wireless transceiver 50 to activate the capsule endoscope 10 to operate the capsule endoscope 10 in the subject.
In some examples, the magnetic positioning system 1 may further comprise an operating device 60. Operating device 60 may be used to manipulate magnetic control device 20.
In some examples, the magnetic positioning system 1 may also include a display device 70. The display device 70 may be used to display image information acquired by the capsule endoscope 10 within the tissue cavity 3.
In some examples, the magnetic positioning system 1 may also include an inspection couch 80. The couch 80 may be used to carry the subject 2.
Hereinafter, a method and a flow of the magnetic positioning device 1 according to the present disclosure for positioning the capsule endoscope 10 located in the tissue cavity 3 of the subject 2 will be described in detail with reference to the accompanying drawings.
In the present embodiment, the capsule endoscope 10 is orally taken by the subject 2, and the subject 2 can be laid on the examination bed 80 as shown in fig. 1. At this time, the operator may operate 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 movement of the capsule endoscope 10 in the tissue cavity 3 of the subject 2, so as to capture an image of the tissue cavity 3 by the image capturing device 14 of the capsule endoscope 10.
In the present embodiment, when the capsule endoscope 10 is positioned by the positioning device 30, the capsule endoscope 10 may be stabilized on the first-order axis L1 (the second magnetic axis L2) and the magnetic axis L3 of the alternating magnetic field sensor 12 in the capsule endoscope 10 may be overlapped with the first-order axis L1, and it is assumed that the linear distance (i.e., the vertical distance) of the alternating magnetic field sensor 12 from the center O of the positioning device 30 is d. At this time, the alternating magnetic field sensor 12 in the capsule endoscope 10 can sense the alternating magnetic induction intensity B generated by the positioning device 30 (the third induction coil 310), the alternating magnetic induction intensity B is converted into an induction signal (such as an electrical signal) by the alternating magnetic field sensor 12 and the peripheral circuit components of the alternating magnetic field sensor 12, then the first wireless transceiver 13 in the capsule endoscope 10 outputs the induction signal to the second wireless transceiver 50, and finally the induction signal is received by the processing device 40.
In addition, the alternating magnetic induction intensity 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 radius r of the bottom surface of the third induction coil 310, and the radius r of the bottom surface of the third induction coil 310 are all known parameters, so the processing device 40 can calculate the following formulaCalculating to obtain the capsule endoscope 10 and the statorThe linear distance d (i.e., the distance in the z-axis direction) between the positioning devices 30. And the distance in the x-direction and the y-direction perpendicular to the page may be determined by the distance that positioning device 30 moves in the x-y plane. Thereby, the capsule endoscope 10 positioned in the tissue cavity 3 can be accurately positioned while avoiding magnetic interference of the surrounding environment.
While the disclosure has been described in detail in connection with the drawings and embodiments, it should be understood that the foregoing description is not intended to limit the disclosure in any way. Modifications and variations of the present disclosure may be made as desired by those skilled in the art without departing from the true spirit and scope of the disclosure, and such modifications and variations fall within the scope of the disclosure.
Claims (8)
1. A magnetic positioning system of a capsule endoscope is characterized in that,
comprising the following steps:
a capsule endoscope having a first magnet, an alternating magnetic field sensor, and a first wireless transceiver, the alternating magnetic field sensor transmitting an induction signal through the first wireless transceiver;
a magnetic control means for generating a static magnetic field and acting on the first magnet of the capsule endoscope, the capsule endoscope being located on a first magnetic axis of the static magnetic field, the magnetic control means controlling a position of the capsule endoscope by changing a magnitude of a magnetic field strength of the static magnetic field and a position of the first magnetic axis of the static magnetic field, the magnetic control means including a second induction coil and a second magnet, and the second magnet being arranged around the second induction coil so as to be rotatable about a point intersecting a magnetic axis of the second induction coil;
a positioning device for generating an alternating magnetic field different from the static magnetic field, the positioning device positioning the capsule endoscope using a magnetic force applied by the alternating magnetic field to the alternating magnetic field sensor and causing the capsule endoscope to be constrained on a second magnetic axis of the positioning device, the first magnetic axis and the second magnetic axis being collinear; and
a processing device 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, and further directly obtaining the linear distance between the capsule endoscope and the positioning device,
wherein the alternating magnetic field sensor of the capsule endoscope senses the alternating magnetic field of the positioning device to obtain the sensing signal.
2. The magnetic positioning system of claim 1, wherein:
the alternating magnetic field sensor is provided with a first induction coil for inducing the alternating magnetic field, and the induction signal is obtained based on an induction current generated by the first induction coil.
3. The magnetic positioning system of claim 2, wherein:
the induction signal is alternating magnetic induction intensity sensed by the alternating magnetic field sensor.
4. The magnetic positioning system of claim 2, wherein:
the third magnetic axis of the first induction coil coincides with the axis of the capsule endoscope in the length direction.
5. The magnetic positioning system of claim 1, wherein:
the positioning device has a third induction coil that generates the alternating magnetic field.
6. The magnetic positioning system of claim 1, wherein:
the physical parameters include the radius of the bottom surface of the positioning device, the induction current of the alternating magnetic field sensor and the magnetic permeability.
7. A magnetic positioning system as claimed in claim 2 or 6, characterized in that:
the processing device is used for processing the data according to the formulaAnd calculating to obtain the linear distance d between the capsule endoscope and the positioning device, wherein B is alternating magnetic induction intensity, mu is magnetic permeability, r is bottom radius, and I is induced current.
8. 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.
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| JP2006271520A (en) * | 2005-03-28 | 2006-10-12 | Olympus Corp | Position detection system of capsule medical device, guidance system of capsule medical device, and position detection method of capsule medical device |
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| JP5030392B2 (en) * | 2004-06-14 | 2012-09-19 | オリンパス株式会社 | Medical device position detection system and medical device guidance system |
| JP5916031B2 (en) * | 2011-09-05 | 2016-05-11 | 株式会社ミュー | Medical equipment |
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| JP2005287888A (en) * | 2004-04-01 | 2005-10-20 | Olympus Corp | Examinee body inside position detection system |
| JP2006271520A (en) * | 2005-03-28 | 2006-10-12 | Olympus Corp | Position detection system of capsule medical device, guidance system of capsule medical device, and position detection method of capsule medical device |
| CN102755164A (en) * | 2011-04-28 | 2012-10-31 | 西门子公司 | Arrangement and method for navigating endoscopic capsule |
| CN203016954U (en) * | 2012-11-07 | 2013-06-26 | 上海理工大学 | Sinusoidal alternating magnetic field generating device for capsule endoscope tracking system |
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