CN116784777A - Magnetic control capsule system and pose calibration representation method thereof - Google Patents
Magnetic control capsule system and pose calibration representation method thereof Download PDFInfo
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- 239000002775 capsule Substances 0.000 title claims abstract description 303
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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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- 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
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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
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
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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
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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
- A61B1/045—Control thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Abstract
The invention discloses a magnetic control capsule system and a pose calibration representation method thereof, wherein the method comprises the following steps: acquiring a magnet local coordinate and an orientation angle of a control magnet in a first local coordinate system; acquiring a capsule local coordinate and an Euler angle of the capsule endoscope in a second local coordinate system; establishing a world coordinate system; correcting the parameters in a world coordinate system; the pose of the control magnet and the capsule endoscope are simultaneously indicated. The control magnet and the capsule endoscope are unified into the same world coordinate system, so that the state of the whole magnetic control capsule system can be intuitively represented, convenience is brought to the follow-up efficient and accurate closed-loop control of the capsule endoscope to realize the examination of the digestive tract, the control method and the application scene of the capsule endoscope are expanded, and the accuracy and the precision of medical auxiliary diagnosis are improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a magnetic control capsule system and a pose calibration representation method thereof.
Background
In-vivo device positioning techniques, such as wireless capsule endoscopes, invasive medical devices, and other in-vivo positioning techniques, are receiving increasing attention. The magnetic control capsule system drives the capsule endoscope to move in the body through magnetic force, and the driving of the capsule endoscope is needed to be completed by a doctor with abundant experience. The doctor shoots an inspection image of the inner wall of the alimentary canal through the built-in lens, determines the position and the gesture orientation of the capsule endoscope, and drives the capsule endoscope to move to the next position through the external control magnet.
Due to the extremely nonlinear and nonuniform spatial distribution characteristics of magnetic force, the influence of the deformable environment of the alimentary canal and friction force, the capsule spin causes difficulty in judging the real azimuth according to images, so that the capsule can not be accurately and quantitatively controlled to reach the target position and the target attitude angle only by means of image visual feedback information, and after the position and the attitude angle of the capsule are confirmed by a positioning method, the positioning system and the magnetic driving system independently operate, the positioning system only plays an auxiliary confirmation role, the next movement of the capsule still needs to be judged by a doctor through experience, the attitude angle of the capsule is always an Euler angle, but the Euler angle can not intuitively reflect the attitude of the capsule, and the actual control operation and use are inconvenient. Therefore, the current system is complex to operate and is not intuitive and accurate.
Disclosure of Invention
In order to solve at least one of the above problems in the prior art, the present invention aims to provide a magnetic control capsule system and a pose calibration method thereof for accurately controlling the movement of a capsule endoscope in a closed loop manner.
In order to achieve the above object, an embodiment of the present invention provides a method for calibrating and representing a pose of a magnetic control capsule system, including the following steps:
Acquiring a magnet local coordinate and an orientation angle of the control magnet in a first local coordinate system;
acquiring a capsule local coordinate and an Euler angle of the capsule endoscope in a second local coordinate system;
establishing a world coordinate system;
correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
calculating magnet attitude information of the control magnet in the world coordinate system according to projection of the orientation angle in the world coordinate system;
correcting the local capsule coordinates to capsule world coordinates in the world coordinate system;
determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle, and calculating capsule posture information of the capsule endoscope in the world coordinate system;
representing the pose of the control magnet, wherein the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
and representing the pose of the capsule endoscope, wherein the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
As a further improvement of the present invention, the method further comprises the steps of:
the pose of the control magnet is represented as [ Mx, my, mz, mh, mv ], wherein [ Mx, my, mz ] is the world coordinates of the magnet, and [ Mh, mv ] is the magnet pose information;
The pose of the capsule endoscope is represented as [ Cx, cy, cz, ch, cv, cs ], wherein [ Cx, cy, cz ] is capsule world coordinates, and [ Ch, cv, cs ] is capsule pose information.
As a further improvement of the present invention, wherein the magnet local coordinates include movable range coordinates of the control magnet in a first local coordinate system;
the step of establishing a world coordinate system comprises the following steps:
and determining the origin of the world coordinate system according to the movable range coordinates.
As a further improvement of the present invention, wherein the intermediate point of the movable range coordinates is taken as the origin of the world coordinate system.
As a further improvement of the present invention, the step of "correcting the magnet local coordinates to magnet world coordinates in the world coordinate system" includes:
calculating a first group of offset of the local coordinates of the magnet relative to the origin of the world coordinate system in the directions of all coordinate axes;
the values of the magnet world coordinates are set to the first set of offsets.
As a further improvement of the present invention, wherein the step of "correcting the capsule local coordinates to capsule world coordinates in the world coordinate system" includes:
Calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system;
and taking the difference value between the capsule local coordinate and the second set of offset values as the value of the capsule world coordinate.
As a further improvement of the present invention, wherein the second set of offsets includes an X-axis difference value and a Y-axis difference value;
the step of calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system comprises:
coinciding vertical projections of the capsule endoscope and the control magnet in an XY plane of the world coordinate system;
acquiring a first alignment coordinate of the capsule endoscope in the second local coordinate system and a second alignment coordinate of the control magnet in the world coordinate system at the moment;
the X-axis difference value of the first alignment coordinate and the second alignment coordinate in the X-axis direction and the Y-axis difference value in the Y-axis direction are calculated.
As a further improvement of the present invention, the second set of offsets further includes a Z-axis difference value;
the step of calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system comprises:
Acquiring hardware parameters of the magnetic control capsule system;
and determining the Z-axis difference value according to the hardware parameters.
To achieve one of the above objects, an embodiment of the present invention provides a magnetically controlled capsule system including a control magnet and a capsule endoscope, further comprising:
the first acquisition module is used for acquiring the magnet local coordinates and the orientation angle of the control magnet in a first local coordinate system;
the second acquisition module is used for acquiring the capsule local coordinate and the Euler angle of the capsule endoscope in a second local coordinate system;
the modeling module is used for establishing a world coordinate system;
the control magnet position correction module is used for correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
the control magnet posture correction module is used for calculating magnet posture information of the control magnet in the world coordinate system according to projection of the orientation angle in the world coordinate system;
the capsule endoscope position correction module is used for correcting the capsule local coordinates into capsule world coordinates in the world coordinate system;
the capsule endoscope posture correction module is used for determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle and calculating capsule posture information of the capsule endoscope in the world coordinate system;
The control magnet representation module is used for representing the pose of the control magnet, and the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
and the capsule endoscope representation module is used for representing the pose of the capsule endoscope, and the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
To achieve one of the above objects, an embodiment of the present invention provides an electronic device including:
a storage module storing a computer program;
and the processing module can realize the steps in the pose calibration representation method of the magnetic control capsule system when executing the computer program.
To achieve one of the above objects, an embodiment of the present invention provides a readable storage medium storing a computer program, which when executed by a processing module, performs the steps in the above-mentioned method for calibrating and representing the pose of a magnetically controlled capsule system.
Compared with the prior art, the invention has the following beneficial effects: the two systems corresponding to the control magnet and the capsule endoscope are integrated to uniformly and intuitively represent the state of the whole magnetic control capsule system, so that the capsule endoscope is conveniently and effectively controlled in a closed loop manner to realize the examination of the digestive tract, the control method and the application scene of the capsule endoscope are expanded, and the accuracy and the precision of medical auxiliary diagnosis are improved.
And the world coordinates of the magnet, the attitude information of the magnet, the world coordinates of the capsule and the attitude information of the capsule are calibrated in a unified way in a world coordinate system, and Euler angles are converted into the attitude information of the capsule, so that the attitude of the capsule can be intuitively displayed, and the actual control operation and use are convenient. And the corresponding relation between the two systems corresponding to the control magnet and the capsule endoscope is determined, the two systems are matched, and the coordinate system conversion is not required to be repeated in the later work.
Drawings
FIG. 1 is a flow chart of a pose calibration representation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a magnetic control capsule system applied to a human body according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method of establishing a world coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a method for calculating attitude information of a control magnet according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a method for calculating a second set of offsets according to an embodiment of the present invention;
FIG. 6 is a schematic view of the Euler angle of a capsule endoscope according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a method for calculating pose information of a capsule endoscope pose according to an embodiment of the present invention;
FIG. 8 is a block diagram of a magnetically controlled capsule system according to an embodiment of the present invention;
FIG. 9 is a schematic block diagram of a magnetically controlled capsule system according to an embodiment of the present invention;
1000, a magnetic control capsule system; 100. a magnetic control system; 200. a capsule positioning system; 201. a capsule endoscope; 300. a bed surface; 400. a human body; 10. a control magnet; 20. a signal transmission module; 30. a storage module; 40. a processing module; 50. a magnetic sensor; 60. an acceleration sensor; 70. a signal transmission module; 80. a camera module; 90. a communication bus.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the invention and structural, methodological, or functional modifications of these embodiments that may be made by one of ordinary skill in the art are included within the scope of the invention.
An embodiment of the invention provides a magnetic control capsule system for accurately controlling the movement of a capsule endoscope in a closed loop mode and a pose calibration representation method thereof, wherein the magnetic control capsule system is equipment applied to a human body, such as a wireless capsule endoscope body, an invasive medical instrument and the like, and is used for positioning the position of a wireless capsule in the body. The method unifies the control magnet and the capsule endoscope into the same world coordinate system, thereby facilitating the follow-up accurate control of the wireless capsule.
The magnetic control capsule system 1000 of the present embodiment includes a magnetic control system 100, a capsule positioning system 200, a control magnet 10 and a capsule endoscope 201, where the magnetic control system 100 is used to position the capsule endoscope 201 by controlling the movement of the capsule endoscope 201, the capsule positioning system 200 is used to position the capsule endoscope 201, a sensor module is installed inside the capsule endoscope 201, the sensor module includes a magnetic sensor 50 (mag sensor) for detecting a magnetic field, such as a hall sensor, a magneto-resistive sensor (AMR, GMR, TMR), etc., the control magnet 10 includes a magnetic source for emitting the magnetic field, a servo motor for controlling the movement of the magnetic source, and a magnetic member is also provided inside the capsule endoscope 201, and the position and the posture of the capsule endoscope 201 are controlled by the magnetic control system 100 through the acting force of the magnetic source on the magnetic member.
Fig. 1 is a position calibration representation method of a magnetic control capsule system 1000 according to an embodiment of the present application, fig. 2 is a structural diagram of the magnetic control capsule system 1000 according to an embodiment of the present application, a capsule endoscope 201 is located inside a human body 400, the human body 400 lies on a bed surface 300, and the magnetic control system 100 is disposed outside the human body 400. During examination, the magnetic field generated by the magnet 10 is controlled to control the movement of the capsule endoscope 201 in the human body 400.
Although the present application provides the method operational steps described in the following embodiments or flowcharts, the method is based on conventional or non-inventive labor, in which logically no causal relationship is necessary, and the execution order of these steps is not limited to the execution order provided in the embodiments of the present application.
The specific pose calibration representation method of the magnetic control capsule system 1000 comprises the following steps:
step 101: the magnet local coordinates and orientation angles of the control magnet 10 in the first local coordinate system are acquired.
The magnet local coordinates may include movable range coordinates of the control magnet 10 in a first local coordinate system.
The local coordinates and orientation angles of the magnets can be obtained from the drive data of the servo motor through the data interface of the magnetron system 100.
The first local coordinate system is a local coordinate in the magnetic control system 100, defines an origin in the local coordinate, and calculates the current position and the orientation angle of the control magnet 10 according to the driving amount of the servo motor.
In the first local coordinate system, the magnet local coordinates include parameter values of three directions of XYZ axes: [ mag ] x ，mag y ，mag z ]The control magnet 10 has axial symmetry, and can determine the orientation angle according to the orientation angle of the N pole of the magnetization direction The orientation angle may take the unit vector of its orientation, or participate in the calculation after post-renormalization, where the orientation angle of the control magnet 10 takes its unit vector: [ p ] x ,p y ,p z ]。
In addition, from the stroke track of the servo motor, the movable ranges in the respective directions of the control magnet 10 can be calculated, and the end points of these ranges are the limit positions of the control magnet 10, which can be respectively indicated as: { X: [ mag xmin ,mag xmax ],Y:[mag ymin ,mag ymax ],Z:[mag zmin ,mag zmax ]}。
Step 102: acquiring capsule local coordinates and euler angles of the capsule endoscope 201 in a second local coordinate system;
the local coordinates of the capsule are the parameter values of the capsule endoscope 201 in three directions including XYZ axes: [ cap ] x ,cap y ,cap z ]. Euler angles include roll angle roll, heading angle yaw, and pitch angle pitch, which may be sequentially denoted as [ theta ] in response to the attitude orientation of the capsule endoscope 201 0 ,θ 1 ,θ 2 ]The Euler angle of the capsule endoscope 201 may be as shown in FIG. 6.
The second local coordinate system is a local coordinate in the capsule endoscope 201, the calibration of the local coordinate depends on the calibration of the capsule positioning system 200, and the capsule positioning system 200 is generally fixed below the examined bed surface 300, the height position of the origin is relatively fixed, but the local coordinate may move in the XY horizontal plane.
The capsule local coordinates and euler angles can be used to obtain the position and attitude angle status data of the capsule endoscope 201 through the relevant software interface functions of the capsule positioning system 200. The position data is accurate to 1mm, and the attitude angle data can be expressed by adopting a floating point number radian to avoid the loss of matrix calculation accuracy.
The inside of the capsule endoscope 201 can be provided with a triaxial magnetic sensor 50 and a triaxial acceleration sensor 60, the outside of the human body 400 is provided with a plurality of groups of magnetic positioning devices, and the magnetic positioning devices work cooperatively with the capsule endoscope 201 to calculate the position and the posture of the capsule endoscope 201.
Step 103: and establishing a world coordinate system.
The world coordinate system is used to unify the first local coordinate system of the magnetic control system 100 and the second local coordinate system of the capsule positioning system 200, and put the above-mentioned magnet local coordinate and orientation angle of the control magnet 10, capsule local coordinate and euler angle of the capsule endoscope 201 into the same coordinate system.
In the method for calibrating and representing the pose of the magnetic control capsule system 1000 in this embodiment, the calibration process is to perform calibration once when the magnetic control system 100 and the capsule positioning system 200 are assembled, so that the coordinate systems of the two systems are matched into the same world coordinate system. In the later stage, if the world coordinate system is changed due to upgrading of the functional module, moving of the positioning system and the like, the method of the embodiment can be used for calibrating and calibrating again. After one calibration, the corresponding relation between the coordinate systems of the magnetic control system 100 and the positioning system is determined, and after the algorithm conversion in this embodiment, the first local coordinate system and the second local coordinate system are matched with the world coordinate system, so as to form a unified world coordinate system.
The world coordinate system can be established manually, and the origin of the world coordinate system can be determined according to the movable range coordinates.
Specifically, the middle point of the movable range coordinate is taken as the origin of the world coordinate system, as shown in fig. 3, specifically, the origin [ mag x0 ,mag y0 ,mag z0 ]The calculation can be performed with the following formula:
step 104: correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
and calculating the magnet posture information of the control magnet in the world coordinate system according to the projection of the orientation angle in the world coordinate system.
After the world coordinate system is built, calculating a first group of offset of the local coordinates of the magnet relative to the origin of the world coordinate system in the directions of all coordinate axes, and setting the value of the world coordinates of the magnet as the first group of offset.
Specifically, after calibrating the origin of the world coordinate system, the position [ Mx, my, mz ] of the control magnet 10 in the world coordinate system is expressed as:
wherein Z is 0 The constant correction height introduced for facilitating application habit can be set as Z 0 The value =0 may be the height from the origin to the table 300, that is, the height corresponds to a plane in which the table 300 is mz=0.
For example, the boundary range of the control system XYZ is { X: [20,550], Y: [ -30,450], Z: [ -80,220] }, the world coordinate system origin coordinate mag0= [285,210,70], and the calibrated position states [ Mx, my, mz ] = [ -85, -60,30] are obtained according to the current position point coordinate raw data mag= [200,150,100] obtained by the control system.
Further, referring to fig. 3, magnet posture information of the control magnet 10 in the world coordinate system is calculated from projections of the orientation angle in the world coordinate system.
The control magnet has axisymmetry, and the direction angle [ Mh, mv ] of the N pole of the magnetization direction]Only with respect to the coordinate axis direction definition of the world coordinate system. The magnet attitude information of the control magnet 10 in the world coordinate system is similar to the spherical coordinate angle representation. In a specific numerical aspect, the angle between the magnetization vector of the magnet 10 and the positive Z-axis direction can be defined as the vertical tilt angle M v (value range [0, +180)]Degree); defining the included angle between the projection vector of the magnetization direction vector of the control magnet 10 on the XY plane and the Y-axis positive direction as the horizontal azimuth angle M h (the range of values is [ -180, +180 [)]Degree) and increases in a clockwise direction, e.g. M in the positive Y-axis direction h =0, positive x-axis direction M h M when the Y axis is negative h M in negative X-axis direction of = + -180 h ＝-90。
In particular, the method comprises the steps of,
where [ px, py, pz ] is the projection component of the unit vector of the magnetization direction of the control magnet 10 at the N pole on the XYZ coordinate axis.
Optionally, the control magnet is fixedly connected with the control machine, the zero points of the vertical angle and the horizontal angle are calibrated through the photoelectric switch at a special angle position, and then the relative rotation state of the servo motor for driving the control magnet to rotate is directly equivalent converted, so that the angle state data can be accurately obtained, and the attitude angle is not required to be determined through on-site measurement of the magnetic field direction of the control magnet.
Step 105: correcting the local capsule coordinates to capsule world coordinates in the world coordinate system;
and determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle, and calculating the capsule posture information of the capsule endoscope in the world coordinate system.
Calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system, the second set of offsets comprising an X-axis difference value, a Y-axis difference value, and a Z-axis difference value;
and taking the difference value between the capsule local coordinate and the second set of offset values as the value of the capsule world coordinate.
The second set of offsets may be calculated as shown in fig. 5. Specifically, the vertical projections of the capsule endoscope 201 and the control magnet 10 in the XY plane of the world coordinate system are overlapped, the control magnet 10 is properly pulled up to weaken the suction force on the capsule endoscope 201, the translation or rolling of the capsule endoscope 201 caused when the control magnet 10 moves is avoided, the control magnet is rotated to the direction of magnetization to be vertically upward, namely, the N pole is vertically upward, the capsule endoscope 201 is moved to the vicinity below the control magnet, the control magnet 10 moves in the XY plane, and the adjustment is performed through negative feedback correction, so that the capsule endoscope 201 reaches the vertically upward state, at this time, the vertical projections of the control magnet 10 and the capsule endoscope 201 in the XY plane are completely overlapped, and the XY plane calibration alignment of the capsule positioning system is completed.
Acquiring a first alignment coordinate [ cap ] of the capsule endoscope 201 in the second local coordinate system at this time xu ,cap yu ]And a second pair Ji Zuobiao [ M ] of the control magnets 10 in the world coordinate system xu ,M yu ]The subscript u refers to the control magnet moving directly above the capsule, at which point the capsule is located directly below the control magnet, labeled with subscript u (under).
Calculating the first alignment coordinate [ cap ] xu ,cap yu ]And the second pair Ji Zuobiao [ M ] xu ,M yu ]The X-axis difference cap in the X-axis direction x0 And the Y-axis difference cap in the Y-axis direction y0 。
cap x0 And cap y0 That is, the deviation of the coordinate values of the second local coordinate system and the world coordinate system in the X-axis and the Y-axis is unified into one coordinate system for comparison.
The second set of offset values is set at the beginning of the system operation, after which the control magnet 10 is not required to be moved above the capsule endoscope 201 at the time of subsequent use, the cap x0 And cap y0 And will not be recalculated in subsequent use. The position of the capsule endoscope 201 may be any position, and the capsule local coordinates of the capsule endoscope 201 in the second local coordinate system are [ cap ] described above x ,cap y ,cap z ]。
In addition, the calculation steps of the Z-axis difference value are as follows:
acquiring hardware parameters of the magnetic control capsule system 1000;
and determining the Z-axis difference value according to the hardware parameters.
Z-axis calibration of the capsule endoscope 201 in the world coordinate system is critical, involving balancing of capsule gravity, capsule buoyancy, friction, magnet attraction and moment. The Z-direction distance between the control magnet 10 and the capsule endoscope 201 directly determines the magnitude of the magnetic attraction force, and the magnetic force and the distance r satisfy an extremely nonlinear relation, and the distance affects the stress balance of the capsule endoscope 201, so that the capsule endoscope 201 is switched between different conditions such as sinking, water surface suspension, and ceiling. Accurate Z-axis calibration is convenient for acquiring the height distance of the capsule endoscope 201 in real time, and provides data basis for subsequent control actions.
The origin calibration of the second local coordinate system depends on the hardware settings of the control system and the capsule positioning system 200, so its specific values are determined with reference to the parameters of the specific device.
Taking the example that the origin of the first local coordinate system is above the table surface 300 and the origin of the second local coordinate system is below the table surface 300, the sum of the difference in height between the origin of the first local coordinate system and the table surface 300 and the difference in height between the inspection table surface 300 and the origin of the second local coordinate system is taken as the Z-axis difference value.
Specifically, the calculation formula of the second set of offset amounts is:
wherein Z is 1 Checking the height difference of the bed surface 300 for the origin of the first local coordinate system, Z 2 To examine the difference in elevation of the couch top 300 from the origin of the second local coordinate system.
In combination with the above step, the difference between the local coordinates of the capsule and the second set of offsets is taken as the value of the world coordinates of the capsule, and the calculation formula of the world coordinates [ Cx, cy, cz ] of the capsule is as follows:
further, referring to fig. 7, the projection of the capsule endoscope 201 in the world coordinate system is determined from the euler angle, and the capsule posture information of the capsule endoscope 201 in the world coordinate system is calculated. The Euler angle is converted into the capsule posture information, so that the posture of the capsule can be intuitively displayed, and the actual control operation and use are convenient.
Specifically, the capsule pose information of the capsule endoscope in the world coordinate system is similar to the spherical coordinate angle representation. In a specific numerical aspect, euler angles can be converted into orientation attitude angles [ Ch, cv ] in a manner similar to the definition of magnet attitude information]And capsule spin angle Cs (C can be corrected for a fixed phase difference associated with the positive lens orientation definition s0 )。
That is, the capsule posture information of the capsule endoscope 201 is represented using [ Ch, cv, cs ], wherein: h represents the horizontal azimuth angle, v represents the vertical tilt angle, s represents the capsule spin angle, as shown in fig. 7.
Defining the angle of the head orientation of the capsule endoscope 201 to the Z-axis forward direction as the capsule vertical tilt angle C v (value range [0, +180)]Degree); defining the angle between the projection vector of the head direction of the capsule endoscope 201 on the XY plane and the Y-axis forward direction as the capsule horizontal azimuth C h (the range of values is [ -180, +180 [)]Degree) and increases in a clockwise direction (C when the Y-axis is forward) h =0, positive x-axis direction C h C when the Y axis is negative h = ±180, C in negative x-axis direction h -90); the capsule spin angle is the orientation angle of the lens of the capsule endoscope, and defines the capsule spin angle C when the captured image of the lens of the capsule endoscope 201 is positive s =0, increasing in the clockwise direction, the attitude information [ Ch, cv, cs ] of the capsule endoscope 201]The calculation formula of (2) is as follows:
the projection of the Z axis of the second local coordinate system on the world coordinate system is as follows:
P＝R·[0 0 1] T ＝[p x p y p z ] T
the directional cosine matrix of the sequential rotation of the capsule endoscope 201 in Z (roll), Y (pitch), X (yaw) is expressed as:
z (roll), Y (pitch), X (yaw) rotation matrices are respectively noted as:
wherein c k ≡cos(θ k )，s k ≡sin(θ k )，θ k For the corresponding euler angles described above, k=0, 1,2.
The specific value of R in equation 1 is queried in equation 2. For example R in formula 1 20 The query in equation 2 is c 0 s 1 c 2 +s 0 s 2 。
Step 106: representing the pose of the control magnet, wherein the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
the pose of the control magnet 10 in the world coordinate system can be expressed as:
[ Mx, my, mz, mh, mv ], wherein [ Mx, my, mz ] is the magnet world coordinates, and [ Mh, mv ] is the magnet pose information.
Step 107: and representing the pose of the capsule endoscope, wherein the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
The pose of the capsule endoscope 201 in the world coordinate system can be expressed as:
[ Cx, cy, cz, ch, cv, cs ] wherein [ Cx, cy, cz ] is the capsule world coordinates and [ Ch, cv, cs ] is the capsule pose information.
The magnetic control capsule system 1000 of the embodiment unifies the control magnet 10 and the capsule endoscope 201 into the same world coordinate system, converts euler angles into capsule posture information, can intuitively display the posture of the capsule, and then can intuitively represent the state of the whole magnetic control capsule system 1000, thereby providing convenience for realizing the subsequent efficient and accurate closed-loop control of the capsule endoscope 201 to realize the examination of the digestive tract, expanding the control method and application scene of the capsule endoscope 201, and improving the accuracy and precision of medical auxiliary diagnosis.
In one embodiment, a magnetically controlled capsule system 1000 is provided, as shown in fig. 8. In addition to controlling the magnet and capsule endoscope, the magnetically controlled capsule system 1000 may further comprise:
the first acquisition module is used for acquiring the magnet local coordinates and the orientation angle of the control magnet in a first local coordinate system;
the second acquisition module is used for acquiring the capsule local coordinate and the Euler angle of the capsule endoscope in a second local coordinate system;
the modeling module is used for establishing a world coordinate system;
the control magnet position correction module is used for correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
The control magnet posture correction module is used for calculating magnet posture information of the control magnet in the world coordinate system according to projection of the orientation angle in the world coordinate system;
the capsule endoscope position correction module is used for correcting the capsule local coordinates into capsule world coordinates in the world coordinate system;
the capsule endoscope posture correction module is used for determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle and calculating capsule posture information of the capsule endoscope in the world coordinate system;
the control magnet representation module is used for representing the pose of the control magnet, and the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
and the capsule endoscope representation module is used for representing the pose of the capsule endoscope, and the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
In one embodiment, the control magnet representation module represents the pose of the control magnet as [ Mx, my, mz, mh, mv ], where [ Mx, my, mz ] is the magnet world coordinates and [ Mh, mv ] is the magnet pose information
In one embodiment, the capsule endoscopy representation module represents the pose of the capsule endoscope as [ Cx, cy, cz, ch, cv, cs ], wherein [ Cx, cy, cz ] is capsule world coordinates, [ Ch, cv, cs ] is capsule pose information
In one embodiment, the modeling module determines an origin of the world coordinate system from the movable range coordinates.
In one embodiment, the modeling module takes a middle point of the movable range coordinates as an origin of the world coordinate system.
In one embodiment, a control magnet position correction module calculates a first set of offsets of the local coordinates of the magnet in each coordinate axis direction relative to an origin of the world coordinate system and sets values of the world coordinates of the magnet to the first set of offsets.
In one embodiment, the capsule endoscope position correction module calculates a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system; and taking the difference between the capsule local coordinates and the second set of offsets as the value of the capsule world coordinates.
In one embodiment, the capsule endoscope pose correction module coincides with the vertical projection of the capsule endoscope 201 and the control magnet 10 in the XY plane of the world coordinate system;
a second acquisition module acquires first alignment coordinates of the capsule endoscope 201 in the second local coordinate system at this time, and a first acquisition module acquires second alignment coordinates of the control magnet 10 in the world coordinate system;
The capsule endoscope position correction module calculates the X-axis difference value of the first alignment coordinate and the second alignment coordinate in an X-axis direction and the Y-axis difference value in a Y-axis direction.
In one embodiment, the magnetically controlled capsule system 1000 further includes a data interface, through which hardware parameters of the magnetically controlled capsule system 1000 are obtained;
and the capsule endoscope coordinate correction module determines the Z-axis difference value according to the hardware parameter.
The magnetic control capsule system 1000 may further include a computing device such as a computer, a notebook, a palm computer, a cloud server, etc. Further may include, but is not limited to, a processing module 40, a storage module 30. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of the magnetic control capsule system 1000 and does not constitute a limitation of the terminal devices of the magnetic control capsule system 1000, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the magnetic control capsule system 1000 may further include input and output devices, network access devices, buses, etc.
It should be noted that, for details not disclosed in the magnetic control capsule system 1000 in the embodiment of the present invention, please refer to details disclosed in the pose calibration representation method of the magnetic control capsule system 1000 in the embodiment of the present invention.
According to the magnetic control capsule system 1000 provided by the invention, the control magnet coordinate correction module and the capsule endoscope coordinate correction module unify the control magnet 10 and the capsule endoscope 201 into the same world coordinate system, so that the state of the whole magnetic control capsule system 1000 can be intuitively represented, convenience is provided for realizing the subsequent efficient and accurate closed-loop control of the capsule endoscope 201 to realize the examination of the digestive tract, the control method and application scene of the capsule endoscope 201 are expanded, and the accuracy and precision of medical auxiliary diagnosis are improved.
Fig. 9 is a schematic block diagram of a magnetic control capsule system 1000 according to an embodiment of the invention. The magnetically controlled capsule system 1000 further comprises the above-described magnetically controlled system 100, capsule positioning system 200, control magnet 10 and capsule endoscope 201, processing module 40, memory module 30, modules within capsule endoscope 201, and a computer program stored in the memory module 30 and executable on the processing module 40, such as the above-described pose calibration representation method program. The processing module 40 implements the steps of the above embodiments of the pose calibration method when executing the computer program, such as the steps shown in fig. 1.
The magnetic source of the control magnet 10 is controlled and driven to move to a designated position through a servo motor and a transmission mechanism, transmission data of the servo motor is obtained through a data interface of the magnetic control system 100, and original data of the position and the attitude angle state of the control magnet 10 is obtained through a fixed proportion conversion formula. The position data is accurate to 1mm and the angle data is accurate to 1 degree.
The control magnet 10 is fixedly connected with the transmission mechanism, the zero point is marked through photoelectric switches at some positions, such as some special vertical and horizontal angles, and then the control magnet 10 can be accurately driven to move to a target position in a world coordinate system through conversion of the driving quantity of a servo motor for driving the control magnet 10 to move, so that the attitude angle of the control magnet 10 is not required to be determined through on-site measurement of the magnetic field direction of the control magnet 10.
The capsule endoscope 201 may include a magnetic field sensor, an acceleration sensor 60, a signal transmission module 70, a magnetic member and an image pickup module 80, where the magnetic field sensor, the acceleration sensor 60 and the magnetic member may work cooperatively with the internal three-axis magnetic sensor 50, the three-axis acceleration sensor 60, the IMU sensor and the external multi-group magnetic positioning device to calculate the position and posture of the capsule endoscope 201, and the capsule endoscope 201 may be driven to move by controlling the action of the magnet 10 on the magnetic member, as described above. The signal transmission module 70 transmits information to the external processing module 40 or the server, and after the wireless capsule is driven to move to a designated position by the external driving, the image pickup module 80 picks up the picture in the human body 400 and transmits the picture to the external through the signal output module, so that the internal photographing is completed.
The control magnet 10 may be pulled up appropriately to weaken the suction force to the capsule or lowered to increase the suction force to the capsule, controlling the capsule endoscope 201 to switch between different conditions of sinking, water levitation, ceiling suction, etc.
The magnetically controlled capsule system 1000 may also include a signal transmission module 20 and a communication bus 90. The signal transmission module 20 is used for sending data to the processing module 40 or the server, the signal transmission module 70 and the signal transmission module 20 can transmit data in a wireless connection manner, such as bluetooth, wifi, zigbee, etc., the communication bus 90 is used for establishing a connection between the control magnet 10, the signal transmission module 20, the processing module 40 and the storage module 30, and the communication bus 90 can include a path for transmitting information between the control magnet 10, the signal transmission module 20, the processing module 40 and the storage module 30.
In addition, the invention also provides an electronic device, which comprises a storage module 30 and a processing module 40, wherein the processing module 40 can realize the steps in the pose calibration representation method when executing the computer program, that is, realize the steps in any technical scheme in the pose calibration method.
The electronic device may be part of the magnetic capsule system 1000, or may be a local terminal device, or may be part of a cloud server.
The processing module 40 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The processing module 40 is a control center of the magnetic control capsule system 1000, and connects various parts of the whole magnetic control capsule system 1000 by various interfaces and lines.
The memory module 30 may be used to store the computer program and/or module, and the processing module 40 may implement various functions of the magnetic control capsule system 1000 by running or executing the computer program and/or module stored in the memory module 30, and invoking data stored in the memory module 30. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the cellular phone, such as audio data, phonebook, etc.), etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid state storage device.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory module 30 and executed by the processing module 40 to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in a method for gesture calibration representation of the magnetically controlled capsule system.
Further, an embodiment of the present invention provides a readable storage medium, which stores a computer program, where the computer program when executed by the processing module 40 can implement the steps in the above-mentioned method for calibrating and representing the pose of the magnetic control capsule system, that is, implement the steps in any one of the technical solutions of the method for calibrating and representing the pose of the magnetic control capsule system.
The modules integrated into the magnetically controlled capsule system 1000 may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above.
Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U-disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunication signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (14)
1. The pose calibration representation method of the magnetic control capsule system comprises a control magnet and a capsule endoscope and is characterized by comprising the following steps:
acquiring a magnet local coordinate and an orientation angle of the control magnet in a first local coordinate system;
acquiring a capsule local coordinate and an Euler angle of the capsule endoscope in a second local coordinate system;
establishing a world coordinate system;
correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
calculating magnet attitude information of the control magnet in the world coordinate system according to projection of the orientation angle in the world coordinate system;
correcting the local capsule coordinates to capsule world coordinates in the world coordinate system;
determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle, and calculating capsule posture information of the capsule endoscope in the world coordinate system;
Representing the pose of the control magnet, wherein the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
and representing the pose of the capsule endoscope, wherein the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
2. The pose calibration representation method according to claim 1, wherein the magnet pose information includes a horizontal azimuth angle and a vertical inclination angle, wherein the horizontal azimuth angle is an angle between a projection vector of a magnetization direction vector of the control magnet on an XY plane of the world coordinate system and a Y-axis forward direction, and the vertical inclination angle is an angle between the magnetization direction vector of the control magnet and a Z-axis forward direction of the world coordinate system.
3. The pose calibration representation method according to claim 2, further comprising the steps of:
and representing the pose of the control magnet, wherein the pose of the control magnet is represented as [ Mx, my, mz, mh, mv ], wherein [ Mx, my, mz ] is the position of the control magnet in the world coordinate system, mh is the horizontal azimuth angle, and Mv is the vertical inclination angle.
4. The pose calibration representation method according to claim 1, wherein the capsule pose information includes a horizontal azimuth angle, a vertical inclination angle and a capsule spin angle, wherein the horizontal azimuth angle is an angle between an XY plane projection vector of a head of the capsule endoscope toward the world coordinate system and a Y axis forward direction, the vertical inclination angle is an angle between the head of the capsule endoscope toward the Z axis forward direction of the world coordinate system, and the capsule spin angle is an angle of orientation of a lens of the capsule endoscope.
5. The pose calibration representation method according to claim 4, further comprising the steps of: the pose of the capsule endoscope is represented as [ Cx, cy, cz, ch, cv, cs ], wherein [ Cx, cy, cz ] is the position of the capsule endoscope in the world coordinate system, ch is the horizontal azimuth angle, cv is the vertical inclination angle, and Cs is the capsule spin angle.
6. The pose calibration representation method according to claim 1, wherein the magnet local coordinates comprise movable range coordinates of the control magnet in a first local coordinate system;
the step of establishing a world coordinate system comprises the following steps:
and determining the origin of the world coordinate system according to the movable range coordinates.
7. The pose calibration representation method according to claim 6, wherein a middle point of the movable range coordinates is taken as an origin of the world coordinate system.
8. The pose calibration representation method according to claim 6, wherein said step of correcting said magnet local coordinates to magnet world coordinates in said world coordinate system comprises:
Calculating a first group of offset of the local coordinates of the magnet relative to the origin of the world coordinate system in the directions of all coordinate axes;
the values of the magnet world coordinates are set to the first set of offsets.
9. The pose calibration representation method according to claim 1, wherein the step of correcting the capsule local coordinates to capsule world coordinates in the world coordinate system comprises:
calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system;
and taking the difference value between the capsule local coordinate and the second set of offset values as the value of the capsule world coordinate.
10. The pose calibration representation of claim 9, wherein the second set of offsets comprises an X-axis difference and a Y-axis difference;
the step of calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system comprises:
coinciding vertical projections of the capsule endoscope and the control magnet in an XY plane of the world coordinate system;
acquiring a first alignment coordinate of the capsule endoscope in the second local coordinate system and a second alignment coordinate of the control magnet in the world coordinate system at the moment;
The X-axis difference value of the first alignment coordinate and the second alignment coordinate in the X-axis direction and the Y-axis difference value in the Y-axis direction are calculated.
11. The pose calibration representation of claim 10, wherein the second set of offsets further comprises a Z-axis difference;
the step of calculating a second set of offsets of the origin of the second local coordinate system relative to the origin of the world coordinate system comprises:
acquiring hardware parameters of the magnetic control capsule system;
and determining the Z-axis difference value according to the hardware parameters.
12. A magnetically controlled capsule system comprising a control magnet and a capsule endoscope, further comprising:
the first acquisition module is used for acquiring the magnet local coordinates and the orientation angle of the control magnet in a first local coordinate system;
the second acquisition module is used for acquiring the capsule local coordinate and the Euler angle of the capsule endoscope in a second local coordinate system;
the modeling module is used for establishing a world coordinate system;
the control magnet position correction module is used for correcting the local coordinates of the magnet into world coordinates of the magnet in the world coordinate system;
the control magnet posture correction module is used for calculating magnet posture information of the control magnet in the world coordinate system according to projection of the orientation angle in the world coordinate system;
The capsule endoscope position correction module is used for correcting the capsule local coordinates into capsule world coordinates in the world coordinate system;
the capsule endoscope posture correction module is used for determining the projection of the capsule endoscope in the world coordinate system according to the Euler angle and calculating capsule posture information of the capsule endoscope in the world coordinate system;
the control magnet representation module is used for representing the pose of the control magnet, and the pose of the control magnet comprises magnet world coordinates and/or magnet pose information;
and the capsule endoscope representation module is used for representing the pose of the capsule endoscope, and the pose of the capsule endoscope comprises capsule world coordinates and/or capsule pose information.
13. An electronic device, comprising:
a storage module storing a computer program;
the processing module, when executing the computer program, can implement the steps in the pose calibration representation method of the magnetic control capsule system according to any one of claims 1 to 11.
14. A readable storage medium storing a computer program, wherein the computer program, when executed by a processing module, performs the steps in the method for calibrating and representing the pose of the magnetically controlled capsule system according to any of claims 1 to 11.
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| PCT/CN2023/082284 WO2023174425A1 (en) | 2022-03-18 | 2023-03-17 | Magnetically controlled capsule system, and pose calibration representation method therefor |
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| JP5243750B2 (en) * | 2007-08-09 | 2013-07-24 | オリンパスメディカルシステムズ株式会社 | Medical device guidance system, operating method, and method for creating a lookup table for use in medical device guidance system |
| US20100010306A1 (en) * | 2008-07-08 | 2010-01-14 | Olympus Medical Systems Corp. | System for guiding capsule medical device |
| EP2347699B1 (en) * | 2010-01-22 | 2018-11-07 | Novineon Healthcare Technology Partners Gmbh | Capsule type endoscope including magnetic drive |
| US9232909B2 (en) * | 2010-04-05 | 2016-01-12 | Ankon Technologies Co., Ltd | Computer-implemented system and method for determining the position of a remote object |
| CN107072475A (en) * | 2014-12-08 | 2017-08-18 | 奥林巴斯株式会社 | Capsule-type endoscope system |
| US11122965B2 (en) * | 2017-10-09 | 2021-09-21 | Vanderbilt University | Robotic capsule system with magnetic actuation and localization |
| CN110809426B (en) * | 2018-06-02 | 2022-05-27 | 上海安翰医疗技术有限公司 | Capsule endoscope control system |
| CN109324298B (en) * | 2018-09-06 | 2020-05-15 | 北京理工大学 | Magnetic source magnetic field signal detection method based on detection array motion planning |
| CN110327011B (en) * | 2019-06-26 | 2021-04-20 | 大连理工大学 | Double-hemisphere capsule robot attitude detection method based on magnetic vector error calibration image |
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