CN208598353U - The positioning system of Wireless capsule endoscope 5DOF - Google Patents
The positioning system of Wireless capsule endoscope 5DOF Download PDFInfo
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- 239000002775 capsule Substances 0.000 title claims abstract description 88
- 230000006698 induction Effects 0.000 claims abstract description 52
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 238000005070 sampling Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000003321 amplification Effects 0.000 claims description 12
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 10
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000005481 NMR spectroscopy Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 244000144985 peep Species 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 102100031144 Coilin Human genes 0.000 description 1
- 238000012897 Levenberg–Marquardt algorithm Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 108010051876 p80-coilin Proteins 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The positioning system of Wireless capsule endoscope 5DOF provided by the utility model, including being set to the transmitting coil that outside human body and three axis are orthogonal, sampling module, position and directions calculation module, wireless sending module, external wireless receiving module and it is located at intracorporal Wireless capsule endoscope, using the orthogonal transmitting coil of one three axis of setting out of the human body, a uniaxial induction coil is only arranged in Wireless capsule endoscope, transmitting coil is placed near human body, the coil I of transmitting coil, coil II, 6 frequencies of coil III sequential transmission and the different signal of amplitude constitute a cycle, i.e. in one cycle, each coil will emit 2 frequencies and the different signal of amplitude；To establish the calculating that equation group carries out three-dimensional position and 3 d pose, this method is integrated conveniently, uniaxial induction coil occupancy Wireless capsule endoscope space is few, real-time continuous can position to Wireless capsule endoscope, facilitate subsequent operation, securely and reliably, low in cost.
Description
[technical field]
The utility model relates to magnetic orientation technology more particularly to the positioning systems of Wireless capsule endoscope 5DOF.
[background technique]
Currently, after Wireless capsule endoscope enters human body alimentary canal, under the collective effect that gravity and intestines and stomach are wriggled certainly
By moving, lacks and in real time, accurately position.Therefore, the Pose Control work of Wireless capsule endoscope cannot effectively be carried out；
Since image does not have the position and direction match information of camera lens, reconstruction of digestive tract work can not also be carried out；Number is not positioned in real time
According to doctor not can confirm that whether capsule is stuck during the inspection process.
Given Imaging company more early positions Wireless capsule endoscope using wireless radio-frequency, wraps later
It includes Chongqing Kingsoft Science and Technology Ltd. and all uses this method.8 or more wireless radio frequency antennas are pasted in human body surface, is received
The radiofrequency signal of Wireless capsule endoscope transmitting passes through algorithm according to radio frequency signal propagation model foundation equation group ex vivo
The position of solve system of equation acquisition Wireless capsule endoscope.This method positioning accuracy is not high, and average positioning accuracy is 37.7 millimeters,
Clinical application effect is bad.
It has been proposed that Wireless capsule endoscope permanent magnetism localization method, is internally embedded minitype permanent magnetism in Wireless capsule endoscope
Body, or the permanent-magnetic clamp in capsule outer cover arrange that array of magnetic field acquires multiple spot magnetic field in human peripheral, according to permanent magnetism
Spatial distribution model establishes equation group, and the position of Wireless capsule endoscope is obtained by algorithm solve system of equation；Permanent magnetism positioning tool
There are precision height, fireballing advantage.But permanent magnetism positioning have the defects that one it is bigger be exactly that orientation distance is close, for energy
It is put into the permanent magnet of current capsule, general effective detection range is in 10cm or so, it is difficult to meet human dimension requirement.
Also it has been proposed that arranging two triaxial induction coils in capsule, allow permanent magnet in the effect of shock module in vitro
Under reciprocating generation changing magnetic field, two triaxial induction coils in capsule export induced electromotive force；But two three
Axis induction coil will occupy capsule more space.
Imageological examination such as X-ray is imaged, and CT (computed tomography) imaging and MRI (nuclear magnetic resonance) imaging can also be used
In positioning Wireless capsule endoscope.But X-ray imaging, there are phototoxis for CT imaging, should not position for a long time；MRI imaging is current
Expense is more expensive.
[utility model content]
In order to solve the deficiencies in the prior art, the utility model is provided one kind based on alternating magnetic field, is sent out using three axis
The Wireless capsule endoscope 5DOF positioning system of ray circle, uniaxial induction coil.Mono-axial is enclosed in wireless capsule
Sight glass space is few, and it is convenient to integrate, and can position in real time, securely and reliably, low in cost, convenient excellent with providing for subsequent operation
Point.
In order to realize that above-mentioned purpose of utility model, the technical solution adopted in the utility model be:
The positioning system of Wireless capsule endoscope 5DOF, including be set to transmitting coil that outside human body and three axis are orthogonal,
Sampling module, position and directions calculation module, external wireless receiving module and be located at intracorporal Wireless capsule endoscope, the nothing
Line capsule endoscope is built-in with a uniaxial induction coil and wireless sending module, three axis orthogonal transmitting coil and wireless capsule
Uniaxial induction coil built in endoscope forms magnetic circuit by alternating magnetic field, the list built in sampling module and Wireless capsule endoscope
Axis induction coil is directly connected to, and the wireless sending module built in Wireless capsule endoscope and external wireless receiving module pass through wirelessly
Signal connection, position and directions calculation module are directly connected to external wireless receiving module；The transmitting coil is orthogonal by three axis
Coil I, coil II and coil III composition, the letter of the respective fixed frequency of the coil I, coil II and coil III sequential transmission
Number, coil I, coil II, 6 frequencies of coil III sequential transmission and the different signal of amplitude constitute a cycle, i.e., at one
In period, each coil will emit 2 frequencies and the different signal of amplitude.
Further, the Wireless capsule endoscope further includes signal amplification module and analog-to-digital conversion module；The single shaft
Induction coil is directly connected to signal amplification module, and the signal amplification module is directly connected to wireless sending module.
Further, the Wireless capsule endoscope is additionally provided with the acquisition filtering that noise filtering is carried out to the signal of acquisition
Module, external wireless receiving module are also connected with the module that accepts filter that noise filtering is carried out to received sampled signal.
Further, the uniaxial induction coil layout on the central axes of Wireless capsule endoscope or in wireless capsule
On the direction of sight glass axis parallel.
Further, the coil I emits 2 frequencies and the different signal of amplitude in regular intervals；Then, institute
It states coil II and emits 2 signals different from coil I frequency and amplitude in regular intervals；Finally, the coil III is pressed
Fixed Time Interval emits 2 signals different from coil I and coil II frequency and amplitude.
Further, the coil I, coil II, coil III successively emit the signal of 1 different frequency and amplitude；So
Afterwards, the coil I, coil II, coil III successively emit the signal of one with preceding primary different frequency and amplitude again.
The beneficial effects of the utility model are:
The utility model is based on alternating magnetic field, the orthogonal transmitting coil of three axis is disposed about in human body, in wireless capsule
Arrangement one uniaxial induction coil in sight glass establishes reference frame OXYZ, single shaft induction with three axis where transmitting coil
Hub of a spool point is (x, y, z) in the coordinate of OXYZ coordinate system, can be converted into Wireless capsule endoscope center and sat in reference
Mark the position of system；Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate system, can represent in wireless capsule and peep
The direction of mirror；The coordinate (x, y, z) and direction vector (vx, vy, vz) of uniaxial induction coil central point are the parameter of positioning.
The signal that the coil I of transmitting coil, coil II, 6 frequencies of coil III sequential transmission and amplitude are all different, line
Circle I, coil II, coil III have emitted 6 signals, referred to as a cycle；Three axial coils correspond to phase in different cycles transmitting signal
Together.The uniaxial induction coil voltage signal that exportable 6 frequencies and amplitude are all different in one cycle, so as to establish
Equation group comprising 6 equations can obtain the parameter of positioning using optimization algorithm solve system of equation, realize 5DOF (position: 3
Freedom degree, direction: 2DOF) measurement.
By using a three axis transmitting coils, a uniaxial induction coil, uniaxial induction coil is occupied in wireless capsule
Sight glass space is few, and it is convenient to integrate, and can position in real time, securely and reliably, low in cost, can provide for subsequent operation conveniently.
[Detailed description of the invention]
Fig. 1 is the amplification of uniaxial coil layout inside the external three axis transmitting coil of the utility model and Wireless capsule endoscope
Structural schematic diagram；
Fig. 2 is the positioning flow figure of the utility model.
[specific embodiment]
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.
The positioning system of Wireless capsule endoscope 5DOF, as shown in Figure 1, the positioning of Wireless capsule endoscope 5DOF
System, including being set to transmitting coil, sampling module, position and the directions calculation module, external nothing that outside human body and three axis are orthogonal
Line receiving module and be located at intracorporal Wireless capsule endoscope, Wireless capsule endoscope be built-in with a uniaxial induction coil and
Wireless sending module, shown in the part a as shown in figure 1, a uniaxial induction coil layout is in Wireless capsule endoscope；Three axis are just
The transmitting coil of friendship and uniaxial induction coil built in Wireless capsule endoscope form magnetic circuit by alternating magnetic field, sampling module with
Uniaxial induction coil built in Wireless capsule endoscope is directly connected to, wireless sending module and body built in Wireless capsule endoscope
Outer wireless receiving module is connected by wireless signal, and position and directions calculation module are directly connected to external wireless receiving module；
The transmitting coil is made of the orthogonal coil I of three axis, coil II and coil III, the coil I, coil II and coil III sequence
Emit the signal of respective fixed frequency, coil I, coil II, 6 frequencies of coil III sequential transmission and the different signal of amplitude
A cycle is constituted, i.e., in one cycle, each coil will emit 2 frequencies and the different signal of amplitude；The transmitting
Magnetic circuit, the Wireless capsule endoscope and external wireless receiving are formed by alternating magnetic field between coil and Wireless capsule endoscope
It is connected between module by wireless signal, is directly connected between the pose computing module and external wireless receiving module.
Moreover, the Wireless capsule endoscope further includes signal amplification module and modulus (AD) conversion module, the uniaxial line of induction
Circle is directly connected to signal amplification module, and signal amplification module is directly connected to wireless sending module；In Wireless capsule endoscope
It is inside additionally provided with the acquisition filter module that noise filtering is carried out to the signal of acquisition, wireless receiving module is also connected with pair in vitro
Received sampled signal carries out the module that accepts filter of noise filtering.
Continue as shown in Figure 1, uniaxial induction coil layout is on the central axes of Wireless capsule endoscope or and wireless capsule
On the direction of endoscope axis parallel；Shown in the part b as shown in figure 1, uniaxial induction coil layout with wireless capsule in peep
On the direction of mirror axis parallel；Shown in the part c as shown in figure 1, uniaxial induction coil layout is in Wireless capsule endoscope
On axis.
Wherein, the coil I of transmitting coil, coil II and tranmitting frequency in coil III and amplitude are sent out using two ways
It penetrates, a kind of mode are as follows: firstly, coil I emits 2 frequencies and the different signal of amplitude in regular intervals；Then, described
Coil II emits 2 signals different from coil I frequency and amplitude in regular intervals；Finally, the coil III is by solid
It fixes time and is spaced 2 signals different from coil I and coil II frequency and amplitude of transmitting.Another way are as follows: firstly, coil
I, coil II, coil III successively emit the signal of 1 different frequency and amplitude；Then, the coil I, coil II, coil III
Successively emit the signal of one with preceding primary different frequency and amplitude again.
The localization method of the Wireless capsule endoscope 5DOF of the embodiment, as shown in Figure 2, comprising the following steps:
The orthogonal transmitting coil of three axis is arranged in step 1 out of the human body, and uniaxial induction is provided in Wireless capsule endoscope
Coil and wireless sending module simultaneously enter in human body with Wireless capsule endoscope, and transmitting coil is by the orthogonal coil I of three axis, coil
II and coil III composition；
Step 2, using the coordinate system OXYZ that three axis where transmitting coil are established as reference frame, uniaxial induction coil
Central point is (x, y, z) in the coordinate of OXYZ coordinate system, is converted into Wireless capsule endoscope center in reference frame
Position；Uniaxial induction coil is (vx, vy, vz) in the direction vector of OXYZ coordinate system, represents the direction of Wireless capsule endoscope；
The coordinate (x, y, z) and direction vector (vx, vy, vz) of uniaxial induction coil central point are the parameter of positioning；
Step 3, after powering on, coil I, coil II and the coil III of transmitting coil sequential transmission 2 within each period
Frequency and the different signal of amplitude；
Amplification module in step 4, Wireless capsule endoscope amplifies the output voltage of uniaxial induction coil；
Output voltage of modulus (AD) the conversion module sampling by amplification in step 5, Wireless capsule endoscope, in the step
It further include that the acquisition filter module being arranged in Wireless capsule endoscope carries out noise filtering to the signal of sampling in 5；
Wireless sending module in step 6, Wireless capsule endoscope sends sampled signal；
Step 7, external wireless receiving module receive sampled signal, and are sent to position and directions calculation module；In the step
External wireless receiving module is also connected with the module that accepts filter in rapid, carries out noise filtering to received sampled signal；
The position and direction information process that step 8, position and directions calculation module calculate Wireless capsule endoscope is as follows:
Solve 6 unknown parameters (x, y, z, vx, vy, vz) of Wireless capsule endoscope position and direction；
Each axis of three axis transmitting coils is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole exists
The magnetic density of generation is at uniaxial induction coil center inside Wireless capsule endoscopeAlong reference frame OXYZ
X, Y, Z axis three quadrature components, as shown in formula (1), (2), (3):
Wherein, (x, y, z) is the position at uniaxial induction coil center, and (m, n, p) is the direction vector of each axis of transmitting coil,
(a, b, c) is the position of transmitting coil, BTIt is a constant related with transmitting coil, L is induction coil to transmitting coil
Distance, shown in L such as formula (4):
Magnetic densityThere are angle, magnetic densities with the direction vector of uniaxial induction coilIn induction coil list
Projection vector on the direction vector of position, as shown in formula (5):
Wherein (vx, vy, vz) is uniaxial induction coil unit one belongs to direction vector,Along reference frame OXYZ X, Y,
Three quadrature components of Z axis, respectively as shown in formula (6), (7), (8):
Uniaxial induction coil output voltage signal, according to Faraday's electromagnetic induction law, the sense of uniaxial induction coil generation
Electromotive force is answered, as shown in formula (9):
Wherein, N is uniaxial number of inductive coil turns, and φ is the magnetic flux across curved surface S.
Due to uniaxial induction coil very little, therefore its volume can be ignored, it is believed that uniaxial induction coil magnetic density everywhere
It is equal, so formula (9) becomes shown in formula (10):
BecauseDirection is identical as the uniaxial direction of induction coil, so obtaining as shown in formula (11):
If emitting the sinusoidal signal of given frequency, the other signals of given frequency can also be used certainly, cannot utilize its restriction
Signal used by emitting, magnetic density are described as shown in formula (12):
So far, it can be deduced that the relational expression between uniaxial induction coil output voltage values and magnetic density, such as formula
(13) shown in:
The output voltage signal of uniaxial induction coil be with transmitting signal same frequency cosine signal, take the amplitude of the signal
Equation group is established, enables ET=-ω NS is obtained shown in formula (14):
εmax=-ω NB 'maxS=ET·B′max (14)
The amplitude that cosine signal is extracted with Fast Fourier Transform (FFT), can also use other methods certainly, cannot utilize its restriction
Extract the mode of cosine signal amplitude；
Three axis transmitting coils successively emit the sinusoidal signal of respective amplitude and frequency, in one cycle, the uniaxial line of induction
Circle 6 groups of voltage signals of output, so as to establish 6 equations, 6 of solution description Wireless capsule endoscope position and direction are not
Know parameter；Due to direction vector (vx, vy, the vz) unit vector of uniaxial induction coil, so, it is further added by a constraint side
Journey, as shown in formula (15):
vx2+vy2+vz2=1 (15)
If ε 'imax(i=1,2,3,4,5,6) are the output voltage amplitudes of uniaxial induction coil in Wireless capsule endoscope,
εimaxIt is the theoretical expression of amplitude, defines shown in error E such as formula (16):
Other methods can also be used certainly, cannot utilize it such as Levenberg-Marquardt algorithm using optimization algorithm
Limit used optimization algorithm；Keep E minimum, can solve Wireless capsule endoscope position and direction parameter (x, y, z, vx,
vy,vz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, position and directions calculation module, in real time
Reflect the pose of current Wireless capsule endoscope, convenient for operator's observation or subsequent applications.
Embodiment described above is the preferred embodiment for being the utility model, and the reality of the utility model is not limited with this
Range is applied, it is all according to equivalence changes made by the utility model principle except in the case of being enumerated in specific embodiment, it should all cover
In in the protection scope of the utility model.
Claims (6)
1. the positioning system of Wireless capsule endoscope 5DOF, including being set to the transmitting coil, position that outside human body and three axis are orthogonal
Set and directions calculation module, external wireless receiving module and be located at intracorporal Wireless capsule endoscope, it is characterised in that:
The Wireless capsule endoscope is built-in with uniaxial an induction coil, sampling module, wireless sending module, and three axis are orthogonal
Transmitting coil and uniaxial induction coil built in Wireless capsule endoscope form magnetic circuit by alternating magnetic field, sampling module with wirelessly
Uniaxial induction coil built in capsule endoscope is directly connected to, the wireless sending module built in Wireless capsule endoscope and external nothing
Line receiving module is connected by wireless signal, and position and directions calculation module are directly connected to external wireless receiving module；
The transmitting coil is made of the orthogonal coil I of three axis, coil II and coil III, the coil I, coil II and coil
The signal of the respective frequency of III sequential transmission, coil I, coil II, 6 frequencies of coil III sequential transmission and the different letter of amplitude
Number a cycle is constituted, i.e., in one cycle, each coil will emit 2 frequencies and the different signal of amplitude.
2. the positioning system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that described wireless
Capsule endoscope further includes signal amplification module and analog-to-digital conversion module；The single shaft induction coil and signal amplification module are direct
Connection, the signal amplification module are directly connected to sampling module.
3. the positioning system of Wireless capsule endoscope 5DOF according to claim 1 or 2, which is characterized in that the nothing
Line capsule endoscope is additionally provided with the acquisition filter module filtered out to the signal of acquisition, and external wireless receiving module is also connected with
There is the module that accepts filter that noise filtering is carried out to received sampled signal.
4. the positioning system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the single shaft
On direction of the induction coil layout on the central axes of Wireless capsule endoscope or with Wireless capsule endoscope axis parallel.
5. the positioning system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the coil I
Emit 2 frequencies and the different signal of amplitude in regular intervals；Then, the coil II emits in regular intervals
2 signals different from coil I frequency and amplitude；Finally, the coil III emits 2 and coil I in regular intervals
The different signal with coil II frequency and amplitude.
6. the positioning system of Wireless capsule endoscope 5DOF according to claim 1, which is characterized in that the coil
I, coil II, coil III successively emit the signal of 1 different frequency and amplitude；Then, the coil I, coil II, coil III
Successively emit the signal of one with preceding primary different frequency and amplitude again.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042094A (en) * | 2017-12-22 | 2018-05-18 | 宜宾学院 | The alignment system and its localization method of Wireless capsule endoscope 5DOF |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042094A (en) * | 2017-12-22 | 2018-05-18 | 宜宾学院 | The alignment system and its localization method of Wireless capsule endoscope 5DOF |
| CN108042094B (en) * | 2017-12-22 | 2024-02-13 | 宜宾学院 | Positioning system and positioning method for freedom degree of wireless capsule endoscope 5 |
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