KR100853516B1 - method for an intestine modeling and orientation tracking of an capsule endoscope and the system performing the same methode - Google Patents

Abstract

The present invention is for accurately measuring the posture of the capsule endoscope in the intestine. By measuring the path of the human intestine, it is possible to determine the exact location of the images taken by the capsule endoscope, and to check whether the image of the suspected part of the lesion was taken, tissue extraction, and drug injection. In addition, there is an effect of providing the user with essential information for controlling the posture of the capsule endoscope when providing a graphical environment or 3D information of the captured image.

Description

Method for an intestine modeling and orientation tracking of an capsule endoscope and the system performing the same methode

1 is a view for explaining the necessity of visceral modeling when measuring the posture of the capsule in the capsule endoscope.

2 is a view for explaining a case of measuring the posture through the internal modeling of the capsule endoscope according to the present invention.

3 is an internal configuration of a capsule endoscope system having a built-in modeling and posture measurement function according to the present invention.

Figure 4 is a block diagram of a wearing system of the capsule endoscope having a built-in modeling and posture measurement function according to the present invention.

5 is a block diagram illustrating a configuration of a control unit formed in a wearing system in a capsule endoscope system having a built-in modeling and posture measuring function according to the present invention.

6 is a schematic diagram of an entire system for explaining the operation of the capsule endoscope system having a built-in modeling and posture measurement function according to the present invention.

7 is a view showing an example of the movement of the capsule endoscope having a built-in modeling and attitude measurement function according to the present invention.

8 is a view showing a rectangular coordinate system set on the basis of an external ultrasonic generator in a capsule endoscope having a built-in modeling and attitude measurement function according to the present invention.

9 is a view for showing a posture measuring method in a capsule endoscope having a built-in modeling and posture measurement function according to the present invention.

10 is a view for defining a coordinate axis in the capsule endoscope having a built-in modeling and attitude measurement function according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: capsule endoscope 11 ~ 14: ultrasonic detection unit

15: calculator 20: wear system

       31 ~ 38: ultrasonic transmitter 40: control unit

41 processor 42 ultrasonic drive circuit

       44,45: transceiver 50: memory

 60: cable 70: computer

       81,82: RF transceiver 90: Time counter

       100: monitor

The present invention relates to a method for measuring the posture and internal modeling of the capsule endoscope, and a system for performing the method. In particular, the capsule endoscope needs to measure the posture of the capsule in order to have a function other than ingestion of the digestive organ. Since it is impossible to measure the pose of the capsule without modeling of the present invention, the present invention relates to a method for measuring the pose of the capsule endoscope and the built-in modeling system and a system for performing the method.

In general, people have different lengths or shapes of digestive organs, and there is no model of digestive system suitable for everyone, and capsule endoscopy proceeds within the digestive organs. At this time, the digestive organs can be modeled using the location information of the capsule, and the posture of the capsule can be measured.

When performing the function of tissue extraction and drug injection at the desired position or when creating 3D image using 2D image, the capsule endoscope should provide the position information of the reliable capsule endoscope to perform this. Reliable posture information can only be obtained if the gut of the digestive pathway through which the capsule passes is modeled. Existing patents and researches have been conducted to find the location of the capsule endoscope to solve this problem, but no efforts have been made to find the position of the capsule endoscope or the modeling of the visceral path during food digestion.

Republic of Korea Patent Application No. 10-2002-0081935 'Capsule endoscope position control device' was invented a system for position control of the capsule endoscope endowed the functions of sample extraction, drug administration and image correction. Indeed, the present invention attempts to extract a desired position, to administer a drug, and to correct an image in a human body without including a system for detecting information about a posture of a capsule endoscope. Without the position information of the capsule endoscope, accurate sampling, drug administration, and image correction are not achieved.

In addition, the Republic of Korea Patent Application No. 10-2002-0042705 'magnetic field remote drive system of the wireless telemetry capsule in the body' presented a capsule endoscope for drug administration by controlling the desired posture in a desired position using a magnetic field. This invention also does not include a system for position and posture of the capsule endoscope. It is difficult to control the capsule endoscope without knowing its position and posture from the outside.

In addition, Korean Patent Application No. 10-2002-0027334 'Telemetry capsule and its position detection system' used a magnetic field to grasp the position information of the capsule endoscope. Although the present invention has a system for identifying position information, it does not measure posture information of the capsule endoscope. The capsule endoscope, which can grasp position information without posture information, can move to a position near the affected part, but accurate sampling and drug administration and imaging cannot be performed inside the human body. Miro capsule endoscopes that use magnetic fields have problems with heat generation due to magnetic fields.

A system for locating capsule endoscopy has begun to be studied, but no system is available for modeling the digestive organs and capsule posture information. Existing inventions that only grasp location information show weaknesses in the accuracy of sampling, drug administration, and attempts to correct images. Attempting to grasp the position of the capsule without modeling the digestive organs has a problem that can cause a fatal effect on the human body if additional work in the digestive organs.

That is, when measuring the posture of the capsule endoscope without considering the environment around the digestive tract in which the capsule endoscope is injected, as shown in FIG. 1, the position of the capsule is determined even though the positions photographed by the surrounding viscera are different. When measured, cases can all be identical. Therefore, it is not possible to exclude the modeling of the digestive system (intestines) and measure the posture of the capsule. Therefore, in order to measure the posture of the capsule, the necessity of modeling the internal organs is raised.

The present invention has been invented to solve the above problems, by performing the modeling of the digestive system into which the capsule endoscope is injected and by accurately measuring the posture of the capsule endoscope, it is possible to determine the exact position of the image taken by the capsule endoscope, It is an object of the present invention to provide a method for measuring the posture of a capsule endoscope to enable imaging of a suspected portion, tissue extraction, and drug injection, and a system for performing the method.

The present invention for achieving the above object ⅰ) when the user swallows the capsule endoscope 10, the ultrasonic generator 31-38 and the RF transmitter 44 of the wearing system 20 to the capsule endoscope 10 inside the human body Simultaneously transmitting ultrasound and RF signals, respectively;

Ii) The time count is started in the initialization state of the wearing system 20 and at the same time generates an ultrasonic signal. When the ultrasonic signal transmitted from the wearing system 20 is detected by the ultrasonic sensors 11 to 14 of the capsule endoscope 10, the wearing system 20 immediately sends a response signal to the capsule endoscope 10. . The wearing system 10 counts the time count until the response signal comes. Stop the time count when a response signal is detected;

Iii) When the time counter of the time counter 90 is completed in step ii, the value of the time counter 90 is stored in the memory 50 of the wearing system 20 or in a peripheral such as a personal computer or a portable terminal. Transmitting to the device;

Iii) three of the four ultrasonic sensing units 11 to 14 of the capsule endoscope 10 measure the posture of the capsule endoscope using the value of the time counter stored in the memory 50 in the step iv, One calculates the internal organ modeling of the digestive organ from the distance that the capsule endoscope 10 is moved by obtaining the origin of the capsule, extracts the 3D coordinates of the capsule endoscope 10 with the calculated internal modeling value of the capsule endoscope Calculating rolling, indicating how much the body has rotated, pitching representing the degree of inclination of the capsule endoscope 10 with respect to the xy plane, and calculating yawing indicating the degree of inclination with respect to the xz plane. It includes.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Of the accompanying drawings, Figure 3 is an internal configuration of the capsule endoscope system having a built-in modeling and posture measurement function according to the present invention, Figure 4 is a wearable system of the capsule endoscope having a built-in modeling and posture measurement function according to the present invention 5 is a block diagram illustrating a configuration of a control unit formed in a wearing system in a capsule endoscope system having a built-in modeling and posture measuring function according to the present invention.

6 is a schematic diagram of an entire system for explaining the operation of the capsule endoscope system having a built-in modeling and posture measurement function according to the present invention, Figure 7 is a capsule endoscope with a built-in modeling and posture measurement function according to the present invention 8 is a view showing a moving example, Figure 8 is a view showing a rectangular coordinate system set on the basis of the external ultrasonic generator in the capsule endoscope having a built-in modeling and attitude measurement function according to the present invention.

And, Figure 9 is a view showing a posture measuring method in a capsule endoscope having a built-in modeling and posture measurement function according to the present invention, Figure 10 is a coordinate axis in a capsule endoscope having a built-in modeling and posture measurement function according to the present invention It is a figure for defining.

In the present invention, as shown in Figure 2, the digestion path of food was expressed using the coordinates of the movement of the origin of the capsule endoscope. In the present invention, the posture of the capsule endoscope is measured and corrected based on the modeling of the digestive organ into which the capsule endoscope is inserted.

As shown in Figure 6, the built-in modeling and posture measurement system of the capsule endoscope according to the present invention, the capsule endoscope 10, the wearing system 20 and the capsule endoscope 10 and wear worn by the user It is broadly classified into an image processing system 70 for controlling the system 20.

As shown in FIG. 3, the structure of the capsule endoscope 10 according to the present invention forms four ultrasonic sensors 11 to 14 inside the conventional capsule endoscope 10. The calculation unit 15 is electrically connected to each of the ultrasonic sensing units 11 to 14 at the center of the ultrasonic sensing units 11 to 14. The ultrasonic sensors 11 to 14 are formed in all directions from the inside of the capsule endoscope 10, and the calculator 15 includes RF transmitters and receivers 81 and 82 and a time counter 90 for transmitting and receiving RF signals. Can be further formed.

Here, the capsule endoscope 10 according to the present invention requires at least four ultrasonic sensors 11 to 14 in order to measure the posture of the capsule, three is the minimum number required to measure the posture of the capsule The other is needed to find the origin of the capsule.

As shown in FIG. 4, the wearing system 20 includes a plurality of ultrasonic transmitters 31 to 38 that are formed from an outer upper side to a lower side of a vest-shaped wearing unit (not shown) formed to be worn by a user. The control unit for measuring the distance to the capsule endoscope to determine the position of the capsule endoscope 10 on the outside of the wearing portion, calculating the position of the capsule endoscope by calculating the measured distance, and performs a control for storing the calculated position 40 is formed. The wearing system 20 serves to transmit an ultrasonic signal inside the human body, and the ultrasonic sensing units 11 to 14 of the capsule endoscope 10 receive the signal and provide basic data for measuring posture.

As shown in FIG. 5, the control unit 40 transmits / receives 44 and 45 to transmit and receive an RF frequency with the capsule endoscope 10 to the processor 41 for performing control on the posture control of the capsule endoscope 10. ), A memory 50 for storing image information and posture information transmitted from the capsule endoscope 10, and an ultrasonic signal transmitted to the ultrasonic sensing units 11 to 14 formed inside the capsule endoscope 10. An ultrasonic drive circuit 42 and a USB 43 port which is a portable data storage means may be formed as necessary. The controller 40 controls the operation of the ultrasonic driving circuit 42 and stores the transmission data of the capsule endoscope 10.

In addition, as shown in FIG. 6, the image processing system 70 is electrically connected to the control unit 40 of the wearing system 20 through a cable 60 or wireless communication to receive image information transmitted from the capsule endoscope 10. A computer 70 and a monitor 100 for image processing. The image processing system 70 serves to interface the image and time information transmitted by the wearing system 20 to the user's PC or PDA.

The operation of the capsule endoscope 10 according to the present invention configured as described above, as shown in FIG. 6, when the user swallows the capsule endoscope 10, the capsule endoscope 10 moves along the user's intestine. The ultrasonic generator of the wearing system 20 and the receiver of the capsule endoscope communicate with each other to produce mutual distance data. This data value is stored in the vest system along with the image data and then passed to the computer 70. The computer 70 performs location tracking and attitude measurement algorithms and displays them on the monitor 100.

In the initialization state of the wearing system 20 starts the time count and generates an ultrasonic signal at the same time, the ultrasonic signal transmitted from the wearing system 20 to the ultrasonic sensing unit (11-14) of the capsule endoscope 10 When detected, the wearing system 20 is sent to the capsule endoscope 10 in response to the response signal, and when the response signal is detected in the wearing system 10, the signal time stops. When the time count of the time counter 90 is stopped, the value of the counted time counter 90 is stored in the memory 50 of the wearing system 20 or transmitted to an external device such as a personal computer or a portable terminal. This data changes posture information on the user's PC or wear system as needed.

Modeling of the digestive system according to the present invention uses a coordinate system defined in FIG. Referring to FIG. 7, when the capsule endoscope moves from point a to point b, the slope of the movement path of the capsule may be measured using the coordinate values changed using Equation 1 below. Φ _y means the degree of inclination with respect to the xy plane, Φ _z means the degree of inclination with respect to the xz plane.

<식 1>

<Equation 1>

In Equation 1, the values of Φ _x , Φ _y , Φ _z are expressed as RPY (Φ _z , Φ _y , Φ _x ). This means that the xyz-coordinate system shows the posture of the viscera in terms of rolling, pitching and yawing. In order to measure the posture of the capsule, the method of expression is represented by rolling, pitching, and yawing as shown in FIG. 9, where rolling represents how much the body of the capsule endoscope is rotated, and pitching is xy. It means the degree of inclination with respect to the plane and yawing means the degree of inclination with respect to the xz plane.

The lmn-coordinate system of the capsule endoscope is expressed as shown in FIGS. 7 and 8. In the present invention, a coordinate system that satisfies the following formula can be made using the ultrasonic sensor position information of the capsule endoscope. The new coordinate axes may define the l-axis, the m-axis and the n-axis as shown in FIG. 10 based on the O point satisfying the following <Equation 2>. Lines drawn as origins from the 1st and 2nd and 3rd sensors respectively. The origin should satisfy the following equation.

<식2>

<Equation 2>

The new axes can be represented as unit direction vectors using the xyz axis. The matrix in Equation 3 contains these vectors as elements.

<Equation 3>

In Equation 3, C means cosine and S means sine.

The l, m, and n vectors of the matrix of Equation 3 are unit vectors having attitude information of the capsule endoscope with respect to the xyz-coordinate system. In other words, the l, m, and n vectors above are obtained from the pose of the capsule endoscope with respect to the xyz-coordinate system. The l, m, and n vectors are zero if they are dot products of each other and the magnitude of each vector is one. P component is a component which shows the position of a capsule endoscope.

The relation of rolling, pitching, and yawing is calculated as in <Equation 4> using the property of the inverse matrix.

Rot (a, Φ _a ) ^-1 ㆍ RPY (Φ _a , Φ _o , Φ _n ) = RPY (Φ _o , Φ _n )

<Equation 4>

Summarizing the matrix above, we can get <Equation 5>.

<Equation 5>

The position information of the capsule endoscope for the intestines is obtained by using the relationship between the equations obtained through the modeling of the food digestion pathway and the expression information of the capsule endoscope for the xyz-coordinate system. In the _xyz- coordinate system, the degree of _{twisting the} capsule endoscope (RPY _xyz ) is equal to the product of the degree of _bowing (RPY _lmn ) and the degree of _{twisting the} capsule (RPY _attitude ). Therefore, in the following Equation 6, RPY _attitude refers to the attitude information of the capsule endoscope for the intestines.

The transplantation of the RPY _{attitude is} as follows.

<식 7>

<Equation 7>

As described above, the method for measuring the visceral model of the endoscope and the system for performing the method according to the present invention and the system for performing the method modeled the viscera using the movement path of the capsule and based on this modeling accurate posture information of the capsule endoscope Since the position of the capsule endoscope within the intestine can be measured, it is helpful to determine the exact location of the captured image, and it is also possible to check whether the image of the suspected part of the lesion is taken, tissue extraction, and drug injection.

In addition, it provides essential information for controlling the posture of the capsule endoscope when providing a graphical environment to the user in 3D information of the captured image. The above pose measurement formula can be used not only for capsule endoscopy, but also for measuring poses of moving objects in water pipes or fixed coordinate systems.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited thereto and may be improved or modified by those skilled in the art within the scope of the technical idea of the present invention.

Claims (3)

Iii) when the user swallows the capsule endoscope 10, the ultrasound generator 31-38 and the RF transmitter 44 of the wearing system 20 simultaneously transmit ultrasound and RF signals to the capsule endoscope 10 inside the human body, respectively. ; Ii) When the RF signal transmitted from the wearing system 20 is detected by the RF receiver 82 of the capsule endoscope, the time counter 90 starts the time count in the initial state, and the ultrasonic wave transmitted from the wearing system 20. When the signal is detected by the ultrasonic sensors 11 to 14 of the capsule endoscope 10, stopping the time coefficient; Iii) If the time counting of the time counter 90 is stopped in step ii, the value of the counted time counter 90 is transferred to the capsule endoscope 10 through the RF transmitter 81 mounted to the calculation unit 15. Storing in the memory 50 of the wearing system 20; And Iii) three of the four ultrasonic sensing units 11 to 14 of the capsule endoscope 10 measure the posture of the capsule endoscope using the value of the time counter stored in the memory 50 in the step iv, One calculates the internal organ modeling of the digestive organ from the distance that the capsule endoscope 10 is moved by obtaining the origin of the capsule, extracts the 3D coordinates of the capsule endoscope 10 with the calculated internal modeling value of the capsule endoscope Calculating rolling, indicating how much the body has rotated, pitching representing the degree of inclination of the capsule endoscope 10 with respect to the xy plane, and calculating yawing indicating the degree of inclination with respect to the xz plane. Built-in modeling and posture measurement method of the capsule endoscope comprising a. The method of claim 1, wherein the step 하여 is measured by measuring the inclination path of the capsule endoscope when the capsule endoscope moves from point a to point b Modeling the posture of the digestive organ (intestine) as a rolling, pitching, or yawing value;

<Equation 1> Φ _y is the degree of inclination with respect to the xy plane, Φ _z is the degree of inclination with respect to the xz plane. Computing the <Equation 1> and calculating the l-axis, m-axis and n-axis based on the origin (O point) as shown in <Equation 2> using the ultrasonic sensor position information of the capsule endoscope;

<Equation 2> The F matrix expressing the position and posture of the capsule endoscope using the x, y, and z components of <Equation 2> is calculated as shown in <Equation 3>, and Φa, Φ0, and Φn values of the F matrix are respectively rolled. Indicating values of pitching and yawing;

<Equation 3>  (C means cosine, S means sine) Calculating the relational expression of rolling, pitching and yawing of Equation 3 using Equation 4 using an inverse matrix property; Rot (a, Φa) -1RPY (Φa, Φo, Φn) = RPY (Φo, Φn)

<Equation 4> Calculating a posture of the capsule endoscope 10 by arranging the matrix of Equation 4 as shown in Equation 5 below;

<Equation 5> The posture information of the capsule endoscope for the digestive organ (intestine) is calculated as shown in <Equation 6> by using the relationship between the equation obtained through modeling of the food digestive route and the posture information of the capsule endoscope for the xyz-coordinate system. Built-in modeling and posture measurement method of the capsule endoscope characterized in that to calculate the posture information of the capsule endoscope for the digestive system (intestines) by arranging <Equation 6>.

<Equation 6>

<Equation 7> delete

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