CN1803094A - Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker - Google Patents
Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker Download PDFInfo
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- CN1803094A CN1803094A CN 200510111030 CN200510111030A CN1803094A CN 1803094 A CN1803094 A CN 1803094A CN 200510111030 CN200510111030 CN 200510111030 CN 200510111030 A CN200510111030 A CN 200510111030A CN 1803094 A CN1803094 A CN 1803094A
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- 239000002775 capsule Substances 0.000 title claims abstract description 44
- 239000003550 marker Substances 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 title claims description 12
- 230000009747 swallowing Effects 0.000 title claims description 10
- 238000005070 sampling Methods 0.000 claims description 10
- 238000001727 in vivo Methods 0.000 claims description 7
- 238000009826 distribution Methods 0.000 abstract description 6
- 230000037406 food intake Effects 0.000 abstract 1
- 230000003068 static effect Effects 0.000 abstract 1
- 238000004441 surface measurement Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 15
- 230000006698 induction Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 210000001035 gastrointestinal tract Anatomy 0.000 description 4
- 239000006187 pill Substances 0.000 description 4
- 230000005672 electromagnetic field Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 241000167880 Hirundinidae Species 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000005290 field theory Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 230000007661 gastrointestinal function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002558 medical inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The invention discloses a continual tracing location system based on ingestion type electronic remote sensing capsule of magnet marker, which comprises the following parts: capsule within magnetic marker, six magnet sensors and external location control device, wherein the external location control device is composed of multi-switch, main controller, power manager, battery group, storage subsystem and external interface mode; six magnet sensors are fixed on the body surface determination position, which connects the power manager and multi-switch; the location system adapts static magnetic field as criterion, which calculates three-dimensional trace through the corresponding function relationship of body magnet field distribution and maker position, which improves the measuring precision.
Description
Technical field
The present invention relates to a kind of swallowing type electronic remote detection continuous tracking and positioning system in capsule, belong to Micro Electro Mechanical System and biomedical engineering technology field based on magnetic marker.
Background technology
Along with the development of microelectric technique, micro sensing technology, wireless communication technique, system integration technology, the various electronic remote detection capsules of swallowing arise at the historic moment.Their profiles are capsule shape, can obey from the oral cavity easily into, move in vivo with gastral normal creepage of gastrointestinal functions then, simultaneously digestive tract is carried out various inspections or operation, detect, fix a point to discharge medicine, live body sampling etc. as image inspection, cavity pressure, temperature, pH value.These systems are for traditional medical inspection instrument and method, have volume little, to the advantage of human zero damage, no pain, be easy to be accepted, therefore become one of focus of current international biomedical engineering field research and application by extensive patients and doctor.As the capsule endoscope of Israel and Japan's exploitation, the gastrointestinal physiological parameter radio pill of Shanghai Communications University's exploitation, the drug release capsules of University Of Chongqing's exploitation etc.
After the electronic remote detection capsule entered in the body, the interval by setting was sent to the physiologic information that records external with wireless mode in real time.Detected data must be interrelated at the gastral concrete position of data correspondence therewith, could analyze, for the doctor clarifies a diagnosis and selects Therapeutic Method that necessary foundation is provided gastral surface appearance, power performance, transportation.This measures and follows the tracks of the position of radio pill in digestive tract with regard to requiring.The location of body internal object is generally adopted X line diascopy, B-mode ultrasonography method, radiosiotope to take a picture at present clinically and is located, above method all requires special-purpose checkout facility, must carry out having in the hospital of corresponding conditions, thereby bring a lot of inconvenience for patient's daily life, work, limited its freedom of movement.The M2A capsule endoscope of Israel's exploitation arranges that at the body surface place a plurality of antennas receive the wireless signal of capsule emission in the body, passes through trigonometric calculations capsule position according to the power of electromagnetic signal and relation each other then.The Smart Pill gastrointestinal tract that Smart Pill company produces detects capsule, utilization is through patient's pick off underwear on one's body and positions, and the reception antenna, electromagnetism excitation antenna, resonance magnetic test coil and the Radio Frequency Subsystem that are used for following the tracks of the capsule position are arranged in the pick off underwear.According to the signal that the pick off underwear receives, adopt neural network method to calculate capsule coordinate position in vivo and sensing angle.These two kinds of localization method utilizations all be the electromagnetic signal of capsule emission in the body, because human body is a kind of very complicated electromagnetic structure, propagation raying source position, the direction of electromagnetic wave in tissue, organize multiple factor affecting such as electromagnetic property, organizational structure, so do not have accurate quantitative corresponding relation between body surface place electromagnetic field intensity and the internal radiation source up to now.Utilize the electromagnetic method location to relate to a large amount of electromagnetism direct problem and the calculating of inverse problem simultaneously, make system structure complicated unusually, accurate positioning simultaneously and precision are not high, and the position error maximum can reach 6cm.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker is provided, can determine the capsule position in vivo that any time moves in digestive tract, and have the positioning accuracy of mm level.
For realizing this purpose, the navigation system of the present invention's design mainly comprises capsule, six magnetic field sensors and the external position control device of band magnetic marker in.External position control device is made up of variable connector, master controller, power supervisor, set of cells, storage subsystem, external interface module, six magnetic field sensor distributions are fixed on body surface and determine the position, and link to each other with variable connector with the power supervisor of external position control device.It is that the magnetic induction of arbitrary position, space and the position of magnetic marker have definite functional relationship that the present invention utilizes the Distribution of Magnetic Field of magnetic marker generation around human body of installing in the capsule, determine that capsule is intravital by process, by the time the people, depict capsule three-dimensional track in vivo.
The external position control device of the present invention is carried on the waist belt, and wherein the annexation of each building block is: set of cells links to each other with power supervisor, provides power supply by power supervisor for whole device.Power supervisor links to each other with master controller, variable connector, storage subsystem, timing module and external interface module respectively, offers these modules after the original power supply that set of cells is provided converts the required running voltage of each module to.Master controller links to each other with power supervisor, storage subsystem, variable connector, timing module and external interface module respectively.Master controller reads six magnetic field sensor signal of variable connector output successively by the sampling period of setting and the time signal of timing module output deposits storage subsystem in.After capsule was discharged from human body, master controller all sent the data of preserving in the storage subsystem to computer by external interface module.
During system works: magnetic marker is installed in the swallowing type electronic remote detection capsule, and the experimenter has worn external position control device, and six magnetic field sensors are arranged in the measurement plane of human body front by certain position relation.The tester swallows capsule.The output result that external position control device is read six magnetic field sensors successively by the sampling period of setting, and the analog signal conversion of pick off output become digital signal, then the pairing time value of each sampling instant and six magnetic field strength date are saved in the storage subsystem of external position control device.After capsule is discharged in the body, take off external position control device and magnetic field sensor.Computer is read each six corresponding constantly field strength values of preserving in the storage subsystem by the interface module of external position control device, find the solution hexa-atomic equation group with computer software, obtain capsular position coordinates of this moment, at last all location points in chronological sequence are linked in sequence, just can depict the three-dimensional track that capsule moves in vivo.
The present invention compares with additive method, have following advantage: (1) has utilized the characteristic of the non-magnetic conduction of tissue, changing electromagnetic field detection is that magnetostatic field detects, a large amount of uncertain factor influences have been avoided, having avoided the complex electromagnetic fields computational problem, is foundation with the magnetostatic field theory, and principle is reliable, the positioning accuracy height can reach the positioning accuracy of mm level; (2) system structure is simple, and magnetic field is produced by magnetic marker, and the magnetic field sensor volume of employing is little, low in energy consumption, and working method is simple, need not peripheral circuit, and the output analogue signal can directly be utilized; (3) testing process is to the complete not damaged of human body, and device carries convenient fixing, to people's work no any restriction of life and adverse effect.
Description of drawings
Fig. 1 adopts the principle schematic of magnetic marker for the present invention.
Fig. 2 is the sketch map that concerns between capsule among the present invention and the magnetic field sensor.
Among Fig. 2,1-6 is a magnetic field sensor, and 7 is the magnetic marker in the swallowing type electronic remote detection capsule.
Fig. 3 is external position control device inner function module connection diagram.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
The present invention according to the magnetic field principle design based on the swallowing type electronic remote detection continuous tracking and positioning system in capsule of magnetic marker.Tissue is a non-magnetic, and magnetic field is in the intravital propagation characteristic of people and identical in free space.If magnetic marker is by uniform magnetization, and its overall dimensions much smaller than between it and the pick off apart from the time, it can be regarded as a magnetic dipole, so the magnetic field that causes by magnetic marker in spatial distributions only by its position, direction and dipole moment decision.Fig. 1 has provided the relation between magnetic dipole, dipole moment and the pick off for the principle schematic that the present invention adopts magnetic marker.
If the magnetic dipole magnetic moment is
Component along three coordinate axess is respectively m
x, m
yAnd m
z,
And the angle between the Z axle is α,
In projection on the XY plane and the angle between the X-axis is β, as shown in Figure 1, and then at optional position, space r
i(x
i, y
i, z
i) locate the magnetic dipole that points to arbitrarily around spatial point r (the magnetic induction regularity of distribution that z) is produced is for x, y:
Wherein:
m
x＝msinαcosβ
m
y＝msinαsinβ
m
z＝mcosα
As seen: B
i=f (x
i, y
i, z
i, m, α, β).If so arbitrary moment, know a certain component of the magnetic induction of 6 known position in space, just can obtain the equation group that constitutes by 6 equations, utilize the method for numerical computations can be in the hope of meeting the numerical solution of specified conditions, thereby determine the locus and the attitude information (x in arbitrary moment of magnetic dipole
i, y
i, z
i, m, α, β).Magnetic marker is installed in the biotelemetry capsule, can draws the capsular dimensional orientation of biotelemetry.
System of the present invention mainly comprises: the capsule of interior band magnetic marker, six magnetic field sensors and external position control device.The layout of magnetic field sensor and and capsule between relation as shown in Figure 2, magnetic marker 7 is installed in the microencapsulation that is used to swallow, six magnetic field sensor 1-6 distributions are fixed on body surface and determine the position, and link to each other with variable connector with the power supervisor of external position control device.
External position control device is carried on testee's the waist belt.Its structure composition and annexation are made up of set of cells, power supervisor, master controller, variable connector, storage subsystem, timing module and external interface module as shown in Figure 3.Set of cells links to each other with power supervisor, provides power supply by power supervisor for whole device.Power supervisor links to each other with master controller, variable connector, storage subsystem, timing module and external interface module respectively, offers these modules after the original power supply that set of cells is provided converts the required running voltage of each module to.Master controller links to each other with power supervisor, storage subsystem, variable connector, timing module and external interface module respectively.Master controller reads six magnetic field sensor signal of variable connector output successively by the sampling period of setting and the time signal of timing module output deposits storage subsystem in.After capsule was discharged from human body, master controller can all send the data of preserving in the storage subsystem to computer by external interface module.
The concrete work process of swallowing type electronic remote detection continuous tracking and positioning system in capsule that the present invention is based on magnetic marker is as follows: (1) with six magnetic field sensors by secure fixation shown in Figure 1 at human body allocation really.External position control device 8 is fixed on people's the waist belt; (2) open the on and off switch of external position control device 8 and radio pill, swallow radio pill; (3) 6 magnetic field sensors detect the magnetic induction at its place, position, external position control device 8 is by the sampling period of setting, select the output analogue signal of each magnetic field sensor successively by variable connector, after the A/D conversion, send into storage subsystem and preserve, before each sampling period finishes, preserve the time value of timing module output; When (4) capsule was discharged in body, external position control device can provide warning message, reminded the tester to finish test; (5) take off external position control device.External interface module links to each other with serial ports of computers by cable, computer and master controller communication, master controller sends computer to through external interface module after reading data in the storage subsystem again, obtains six the magnetic induction values and the time value of each sampling instant correspondence; (6) utilize six magnetic induction values of each sampling instant correspondence, calculate this moment capsule at intravital direction of people and positional information (x by computer software
i, y
i, z
i, m, α, β); (7) in chronological sequence connect each postpone that capsule passes through, just can depict capsule three-dimensional running orbit in vivo, clear to understand capsule intravital by process with pass through the time the people.
Claims (1)
1, a kind of swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker, capsule, six magnetic field sensors and the external position control device of band magnetic marker in it is characterized in that comprising, six magnetic field sensors distribute and are fixed on the body surface desired location, and link to each other with variable connector with the power supervisor of external position control device; Described external position control device is by set of cells, power supervisor, master controller, variable connector, storage subsystem, timing module and external interface module are formed, set of cells links to each other with power supervisor, power supervisor respectively and master controller, variable connector, storage subsystem, timing module links to each other with external interface module, after converting the required running voltage of each module to, the original power supply that set of cells is provided offers these modules, master controller respectively and power supervisor, storage subsystem, variable connector, timing module links to each other with external interface module, master controller reads six magnetic field sensor signal of variable connector output successively by the sampling period of setting and the time signal of timing module output deposits storage subsystem in, and send the data of preserving in the storage subsystem to Computer Processing by external interface module, obtain the three-dimensional track that capsule moves in vivo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101110300A CN100394888C (en) | 2005-12-01 | 2005-12-01 | Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101110300A CN100394888C (en) | 2005-12-01 | 2005-12-01 | Swallowing type electronic remote detection continuous tracking and positioning system in capsule based on magnetic marker |
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| Publication Number | Publication Date |
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| CN1803094A true CN1803094A (en) | 2006-07-19 |
| CN100394888C CN100394888C (en) | 2008-06-18 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690662B (en) * | 2009-10-15 | 2011-01-05 | 上海交通大学 | Tracking and positioning method of gastrointestinal tract internal microsystems |
| CN102578992A (en) * | 2008-03-10 | 2012-07-18 | 奥林巴斯医疗株式会社 | Displaying system and displaying system of guiding apparatus |
| CN105769168A (en) * | 2016-03-30 | 2016-07-20 | 中国科学院上海微系统与信息技术研究所 | Auxiliary positioning method, system and equipment for current source of magnetocardiography |
| CN107132581A (en) * | 2017-06-29 | 2017-09-05 | 上海理工大学 | A kind of double-deck magnetic source localization method based on pose mapping relations database |
| CN107158553A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | For gastral electronic capsule and medicament delivery method |
| WO2021152576A1 (en) * | 2020-01-27 | 2021-08-05 | Pilluette Ltd. | Magnetic drug delivery capsules and systems |
| TWI829415B (en) * | 2022-11-08 | 2024-01-11 | 耀登科技股份有限公司 | Artificial intelligence capsule positioning system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3940260A1 (en) * | 1989-03-04 | 1990-09-13 | Werner Weitschies | Position determining appts. for objects or body constituents - introduces ferromagnetic substances to enable location of objects due to their magnetic field using field sensors |
| DE19532676C1 (en) * | 1995-09-05 | 1997-05-07 | Inst Physikalische Hochtech Ev | Arrangement for determining the position of a marker in a cavity within the organism of a living being |
| CN1481754A (en) * | 2002-12-29 | 2004-03-17 | 侯文生 | System and position tracing method for dynamic positioning and tracing internal miniature apparatus |
-
2005
- 2005-12-01 CN CNB2005101110300A patent/CN100394888C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102578992A (en) * | 2008-03-10 | 2012-07-18 | 奥林巴斯医疗株式会社 | Displaying system and displaying system of guiding apparatus |
| CN102578992B (en) * | 2008-03-10 | 2015-07-01 | 奥林巴斯医疗株式会社 | Displaying system and displaying system of guiding apparatus |
| CN101690662B (en) * | 2009-10-15 | 2011-01-05 | 上海交通大学 | Tracking and positioning method of gastrointestinal tract internal microsystems |
| CN107158553A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | For gastral electronic capsule and medicament delivery method |
| CN107158553B (en) * | 2016-03-07 | 2020-06-16 | 上海理工大学 | Electronic capsule for alimentary canal and medicine conveying method |
| CN105769168A (en) * | 2016-03-30 | 2016-07-20 | 中国科学院上海微系统与信息技术研究所 | Auxiliary positioning method, system and equipment for current source of magnetocardiography |
| CN105769168B (en) * | 2016-03-30 | 2019-10-01 | 中国科学院上海微系统与信息技术研究所 | A kind of assisted location method, system and the equipment of magnetocardiogram current source |
| CN107132581A (en) * | 2017-06-29 | 2017-09-05 | 上海理工大学 | A kind of double-deck magnetic source localization method based on pose mapping relations database |
| CN107132581B (en) * | 2017-06-29 | 2019-04-30 | 上海理工大学 | A kind of double-deck magnetic source localization method based on pose mapping relations database |
| WO2021152576A1 (en) * | 2020-01-27 | 2021-08-05 | Pilluette Ltd. | Magnetic drug delivery capsules and systems |
| TWI829415B (en) * | 2022-11-08 | 2024-01-11 | 耀登科技股份有限公司 | Artificial intelligence capsule positioning system |
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