CN104473611B - Capsule endoscope system with ultrasonic wave positioning function - Google Patents
Capsule endoscope system with ultrasonic wave positioning function Download PDFInfo
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- CN104473611B CN104473611B CN201510025465.7A CN201510025465A CN104473611B CN 104473611 B CN104473611 B CN 104473611B CN 201510025465 A CN201510025465 A CN 201510025465A CN 104473611 B CN104473611 B CN 104473611B
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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
- A61B1/00147—Holding or positioning arrangements
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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
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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Abstract
The invention provides a kind of capsule endoscope system with ultrasonic wave positioning function, belong to medicine equipment technical field of auxiliary equipment.It solves the problems, such as the complexity that existing technology adds alignment system.This has the capsule endoscope system of ultrasonic wave positioning function, including capsule endoscope and external control unit, the miniature ultrasonic transmitter module and radio-frequency transmitter module that MCU control circuit is provided with capsule endoscope and is connected with MCU control circuit, external control unit includes microcontroller and the wireless radiofrequency receiving module and ultrasonic wave receiving processing module that are connected with microcontroller, audio-video signal processing module is connected between microcontroller and wireless radiofrequency receiving module, microcontroller can obtain capsule endoscope in real time in the exact position of patient's body using velocity of sound temperature-compensating formula and space orientation algorithm.It is high in the exact position of patient's body, setting accuracy that this capsule endoscope system can obtain capsule endoscope in real time.
Description
Technical field
The invention belongs to medicine equipment technical field of auxiliary equipment, is related in a kind of capsule with ultrasonic wave positioning function
Endoscope system, particularly a kind of medical capsule endoscopic system suitable for disease of digestive tract inspection, diagnosis and positioning function.
Background technology
Capsule endoscope is also known as Medical wireless scope.Working mechanism is：When capsule endoscope is swallowed by patient, by human body
Gastral wriggling, image is recorded with the speed of every number of seconds frame along alimentary canal, and wirelessly sent view data
To vitro data recorder or wearable device, whole process continues 8-15 hour, records the pictures of about 5-9 ten thousand, tool
The doctor for having clinical experience checks all pictures and analysis disease of digestive tract by PC computers or image display, provides diagnosis
As a result.The test mode has hurtless measure, no pain, without cross-infection, the advantages that not influenceing the normal work study of patient, can
As the method for optimizing of disease of digestive tract diagnosis, revolution and the direction that 21 century endoscope develops are referred to as by medical field.
Patient's body inevitably be present and be detained with gained picture without position in the capsule endoscope that medical field uses at present
The problems such as confidence ceases, the diagnosis to disease rely primarily on the clinical experience of doctor, therefore the capsule endoscope with positioning function
Brought into schedule.Mainly there are following several positioning methods in the world at present：The positioning of RF radiofrequency signals, the magnetic field of built-in permanent magnet component
Positioning, sound positioning, RF radiofrequency signals+CT positioning or MRI positioning, are positioned using radiation source what is more.Above-mentioned is several fixed
Position mode, otherwise need to use expensive, bulky auxiliary equipment, as the magnetic field of the positioning of RF radiofrequency signals and built-in permanent magnet component is determined
Position needs body-worn medical auxiliary equipment to complete positioning；More or less harm is produced to human body, such as built-in permanent magnet component
Magnetic oriented and radiation source positioning.
The CN103876702A announced for above-mentioned problem, on June 25th, 2014 Chinese invention patent explanation
Book discloses a kind of capsule endoscope system and its capsule endoscope with localization by ultrasonic function, is shone for being obtained while taking pictures
The positional information of piece, to solve the problems, such as the excessive clinical experience for relying on doctor.But the capsule endoscope uses External ultrasound
Array emitter ultrasonic wave, internal ultrasonic wave receiving module export timing signal again after being used for received ultrasonic signal, then by penetrating
Timing signal is output to external recorder by frequency module.This kind of signal processing mode, excessive dependence radiofrequency emitting module, increase
The complexity of alignment system；And the system needs special location bed, it is necessary to patient can just be checked in hospital, limit
The detection comfort level of patient is made；In addition, the system does not provide specific theoretical calculation model, algorithm and implemented
Journey.
The content of the invention
The purpose of the present invention is above mentioned problem be present for existing technology, it is proposed that one kind has ultrasonic wave positioning function
Capsule endoscope system, the capsule endoscope system can obtain capsule endoscope in real time in the exact position of patient's body, fixed
Position accuracy is high.
The purpose of the present invention can be realized by following technical proposal：Capsule endoscope system with ultrasonic wave positioning function
System, it is characterised in that the capsule endoscope system includes capsule endoscope and external control unit, in the capsule endoscope
The miniature ultrasonic transmitter module and radio-frequency transmitter for being provided with MCU control circuit and being connected with the MCU control circuit
Module, the external control unit include microcontroller and the wireless radiofrequency receiving module being connected with the microcontroller and surpassed
Acoustic receiver processing module, audio-video signal processing module is connected between microcontroller and the wireless radiofrequency receiving module,
While the MCU control circuit controls miniature ultrasonic transmitter module to external transmitting ultrasonic signal, pass through wireless radiofrequency
Transmitter module launches the id signal of ultrasonic wave launch time to external control unit, and the ultrasonic wave receiving processing module is used for
Output pulse signal is to microcontroller, the audio frequency and video letter after receiving the ultrasonic signal of capsule endoscope transmitting and being handled
The id signal for the ultrasonic wave launch time sent by patient's body that number processing module receives to wireless radiofrequency receiving module enters
Row processing, and then the marker pulses signal after transmission processing is to microcontroller, the microcontroller according to return pulse signal and
The time difference of marker pulses signal and ultrasonic wave real time communication speed calculate miniature ultrasonic transmitter module and connect with ultrasonic wave
The distance between processing module is received, and then positional information of the capsule endoscope in patient's body is obtained by space orientation algorithm.
This has the capsule endoscope system of ultrasonic wave positioning function when in use, by the ultrasonic wave in external control unit
Receiving processing module is positioned in patient home, work and study place or hospital according to certain rule, works as capsule endoscope
During into patient's body, the miniature ultrasonic transmitter module in capsule endoscope is ultrasonic to spatial emission according to intervals
Ripple signal, at the same time, the time marking signal that MCU control circuit launches miniature ultrasonic transmitter module ultrasonic signal lead to
Cross radio-frequency transmitter module and be sent to external control unit, when the wireless radiofrequency receiving module in external control unit receives this
Between id signal and be conveyed to audio-video signal processing module, the audio-video signal processing module receives the time marking signal simultaneously
Handled, the microcontroller after processing in output time marker pulses signal donor outer control unit；In external control unit
Ultrasonic wave receiving processing module receive the ultrasonic signal of capsule endoscope transmitting and handled, and then output pulse signal
To microcontroller, microcontroller is according to receiving time marking pulse signal and pulse signal draws transmission signal and reception signal
Between time difference, miniature ultrasonic transmitter module can be calculated in capsule endoscope according to the time difference and received to ultrasonic wave
The distance between processing module, and then capsule endoscope can be obtained in real time in the position of patient's body by space orientation algorithm again
Confidence ceases.The system external reception, sets multiple ultrasonic wave receiving processing modules in vitro using ultrasonic signal is launched in vivo,
Processing speed is fast, and setting accuracy is high, in addition, this has capsule endoscope system of ultrasonic wave positioning function without location bed,
Patient can independently complete to check, export diagnostic result, running orbit drafting and storage, be truly realized and conveniently comfortably control
Treat.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the miniature ultrasonic transmitter module institute
Hair ultrasonic wave is omni-directional spherical wave, and wavefront is sphere, is produced by sphere ultrasonic transducer.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the miniature ultrasonic transmitter module bag
Include a ultrasonic wave emission sensor.The ultrasonic wave emission sensor launches omni-directional spherical wave, can make to be arranged on different positions
The ultrasonic wave receiving processing module put receives ultrasonic signal, improves setting accuracy.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the ultrasonic wave emission sensor is profit
The piezoelectric-type ultrasonic wave transducer to be worked with the resonance manner of piezo-electric crystal.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the ultrasonic wave emission sensor is profit
The magnetostriction type ultrasonic transducer to be worked with magnetostriction mode.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the ultrasonic wave receiving processing module bag
Ultrasonic wave receiving array and signal processing circuit are included, the ultrasonic wave receiving array includes several ultrasonic waves and receives sensor.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the ultrasonic wave receiving array is included extremely
Few three ultrasonic waves receive sensor.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the microcontroller calculates to be peeped in capsule
Miniature ultrasonic transmitter module launches ultrasonic wave and receives time difference between ultrasonic wave to ultrasonic wave receiving processing module in mirror,
The time difference is set as Δ ti, real-time ultrasound velocity of wave propagation is set as v, the miniature ultrasonic transmitting mould in capsule endoscope
Block receives the distance between sensor with each ultrasonic wave in ultrasonic wave receiving processing module and is set as si, si=v Δs ti,i
=1,2 ... N, wherein N are the number that ultrasonic wave receives sensor, the microcontroller and then real-time by space orientation algorithm
Precise position information of the capsule endoscope in patient's body is drawn, is loaded into by audio-video signal processing module in view data
And stored.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the external control unit also include with
The temperature sensor of microcontroller connection, the temperature sensor are used for monitoring patient in real time and take residing ring after capsule endoscope
Border temperature T, ultrasonic propagation velocity v=331.45+ η T, η are constant.η values can be measured by test method.Ultrasonic wave is
The factors such as a kind of sound wave, its velocity of sound and temperature, humidity, pressure are relevant, wherein, the velocity of sound be affected by temperature it is larger, through actual test,
Temperature often raises 1 DEG C, velocity of sound increase about η m/s, therefore, sets temperature sensor in control unit in vitro, can effectively improve survey
Determine accuracy of the capsule endoscope in patient's body positional information.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the capsule endoscope system also includes
PC work stations, the figure for including positional information that the PC work stations are stored external control unit by wired or wireless mode
As data carry out reception processing.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the external control unit also includes using
In the display unit that the external control unit is provided the power supply unit of power supply and is connected with audio-video signal processing module.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, the capsule endoscope includes capsule shells
Body and transparent optical protecgulum, capsule housing and the transparent optical protecgulum are attached by buckle or bonding mode.
In the above-mentioned capsule endoscope system with ultrasonic wave positioning function, in the capsule endoscope housing, edge
Optical lens, LED lamp panel, optical image sensing are also disposed with capsule endoscope axis at the transparent optical protecgulum
Device, image processing module and supplying cell, described image processing module respectively with optical image sensor and radio-frequency transmitter
Module is connected, and cold light source LED, light sensor and optical lens, the MCU controls electricity are provided with the LED lamp panel
Road is connected with the light sensor and cold light source LED respectively, the supplying cell respectively with the LED lamp panel, optical picture
As sensor, image processing module, MCU control circuit connect with radio-frequency transmitter module.Capsule endoscope is into patient
After in vivo, light sensor monitors the light luminance of patient's body tissue emissions and feeds back to MCU control circuit in real time, MCU controls
Circuit processed controls the brightness of cold light source LED by pulse width modulation mode, in order to light in real time according to obtained light luminance value
Learn camera lens and can obtain patient tissue inwall clearly image.
Compared with prior art, this capsule endoscope system with ultrasonic wave positioning function is with advantages below：
1st, the present invention can eliminate the interference of ultrasonic wave multipath effect and suppress ambient noise interference, and it is clear to obtain patient tissue inwall
Clear image, capsule endoscope is monitored in real time in patient's body exact position, beneficial to medical diagnosis on disease.
2nd, the present invention does not influence life and work, realizes and conveniently relax without location bed, detection place without limitation
Suitable treatment.
3rd, the present invention sets a miniature ultrasonic transmitter module for launching ultrasonic signal to space omni-directional in vivo,
Multiple ultrasonic waves are set to receive sensor in vitro, for the position of comprehensive positioning capsule endoscope in vivo, and in ultrasound
Ripple receiving side signal face real-time is high, and reception processing speed is fast, and then improves positioning capsule endoscope in patient's body position
Accuracy.
Brief description of the drawings
Fig. 1 is the schematic diagram of capsule endoscope in the present invention.
Fig. 2 is the structural representation of the present invention.
Fig. 3 is operation of capsule endoscope flow chart of the present invention.
Fig. 4 is the workflow diagram of the present invention.
Fig. 5 is the first placement location schematic diagram of ultrasonic wave reception sensor of the present invention.
Fig. 6 is that ultrasonic wave of the present invention receives second of placement location schematic diagram of sensor.
Fig. 7 is the third placement location schematic diagram of ultrasonic wave reception sensor of the present invention.
Fig. 8 is that ultrasonic wave of the present invention receives the 4th kind of placement location schematic diagram of sensor.
Fig. 9 is the schematic diagram of signal processing of the present invention.
In figure, 1, capsule endoscope；1a, capsule housing；1b, transparent optical protecgulum；2nd, cold light source LED；3rd, optical frames
Head；4th, optical image sensor；5th, image processing module；6th, supplying cell；6a, the first battery；6b, the second battery；7th, it is miniature
Ultrasonic wave transmitter module；8th, radio-frequency transmitter module；8a, RF radio-frequency transmitter module；8b, transmitting antenna；9th, MCU is controlled
Circuit；10th, external control unit；11st, LED lamp panel；12nd, light sensor；13rd, PC work stations；14th, ultrasonic wave reception processing mould
Block；14a, ultrasonic wave receiving array；14b, signal processing circuit；15th, audio-video signal processing module；16th, external radio-frequency is wireless
Transmitter module；17th, microcontroller；18th, display unit；19th, power supply unit；20th, wireless radiofrequency receiving module.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
As shown in Figure 1, 2, this capsule endoscope system with ultrasonic wave positioning function, including it is capsule endoscope 1, external
Control unit 10 and PC work stations 13, its capsule endoscope 1 include capsule housing 1a and transparent optical protecgulum 1b, and both pass through card
Button or bonding mode connect, in the housing of capsule endoscope 1, along the axis of capsule endoscope 1 since transparent optical protecgulum 1b
It is disposed with optical lens 3, LED lamp panel 11, optical image sensor 4, image processing module 5, supplying cell 6, MCU controls
Circuit 9 and radio-frequency transmitter module 8, image processing module 5 respectively with optical image sensor 4, radio-frequency transmitter module 8
Be connected, supplying cell 6 respectively with LED lamp panel 11, optical image sensor 4 and image processing module 5, MCU control circuit 9,
Radio-frequency transmitter module 8 is connected；Capsule endoscope 1 also includes what is be connected respectively with supplying cell 6, MCU control circuit 9
Miniature ultrasonic transmitter module 7, miniature ultrasonic transmitter module 7 are arranged in the geometric center and capsule of capsule endoscope 1 and peeped
The center of gravity of mirror 1；Cold light source LED 2, light sensor 12 and optical lens 3, cold light source LED 2 are provided with LED lamp panel 11
Glow color is highlighted white light, the light emission direction of cold light source LED 2 along the axis of capsule endoscope 1 towards transparent optical protecgulum 1b,
The optics receiving plane of light sensor 12 is fixed on along the axis of capsule endoscope 1 towards transparent optical protecgulum 1b, optical lens 3
The center of LED lamp panel 11.Its external control unit 10 includes ultrasonic wave receiving processing module 14, wireless radiofrequency receiving module
20th, audio-video signal processing module 15, microcontroller 17, power supply unit 19 and display unit 18, wherein power supply unit 19 are used for
Power supply is provided external control unit 10, and power supply unit 19 receives mould with ultrasonic wave receiving processing module 14, wireless radiofrequency respectively
Block 20, audio-video signal processing module 15, microcontroller 17 and display unit 18 are electrically connected with, ultrasonic wave receiving processing module 14
It is connected with microcontroller 17 with wireless radiofrequency receiving module 20, connects between wireless radiofrequency receiving module 20 and microcontroller 17 respectively
Audio-video signal processing circuit 14b is met, display unit 18 is connected with audio-video signal processing circuit 14b, external control unit 10
In ultrasonic wave receiving processing module 14 be used for receive the ultrasonic wave that miniature ultrasonic transmitter module 7 is sent in capsule endoscope 1
Signal, external control unit 10 receive capsule endoscope 1 by wireless radiofrequency receiving module 20 and pass through radio-frequency transmitter module 8
The analog video signal and ultrasonic wave launch time id signal sent, PC work stations 13 by it is wired or wirelessly with
External control unit 10 connects, and is additionally provided with the external radio-frequency being connected with microcontroller 17 in control unit 10 in vitro and wirelessly sends out
Module 16 is penetrated, external control unit 10 is communicated wirelessly by external radio-frequency wireless transmitter module 16 and PC work stations 13.MCU
While control circuit 9 is used to control miniature ultrasonic transmitter module 7 to external transmitting ultrasonic signal, sent out by wireless radiofrequency
The id signal that module 8 launches ultrasonic wave launch time to external control unit 10 is penetrated, ultrasonic wave receiving processing module 14 is used for
Output pulse signal is to microcontroller 17, audio frequency and video letter after receiving the ultrasonic signal that capsule endoscope 1 is launched and being handled
The mark letter for the ultrasonic wave launch time sent by patient's body that number processing module 15 receives to wireless radiofrequency receiving module 20
Number handled, and then the marker pulses signal after transmission processing, to microcontroller 17, microcontroller 17 is believed according to pulse is received
Number and ultrasonic wave launch time id signal time difference and ultrasonic wave real time communication speed calculate miniature ultrasonic hair
The distance between module 7 and ultrasonic wave receiving processing module 14 are penetrated, and then capsule endoscope 1 is obtained by space orientation algorithm and existed
The positional information of patient's body.
Specifically,
Microcontroller 17 calculates miniature ultrasonic transmitter module 7 in capsule endoscope 1 and launches ultrasonic wave to ultrasonic wave reception
Processing module 14 receives the time difference between ultrasonic wave, and the time difference is set as into Δ ti, real-time ultrasound velocity of wave propagation sets
It is set to v, the miniature ultrasonic transmitter module 7 in capsule endoscope 1 and each ultrasonic wave in ultrasonic wave receiving processing module 14
Receive the distance between sensor and be set as si, si=v Δs ti, i=1,2 ... N, wherein N are that ultrasonic wave receives sensor
Number, microcontroller 17 and then draws capsule endoscope 1 in the exact position of patient's body in real time by space orientation algorithm again
Information, it is loaded into view data and is stored by audio-video signal processing module 15.
Preferably, external control unit 10 also includes the temperature sensor being connected with microcontroller 17, temperature sensor
Local environment temperature T after capsule endoscope 1 is taken for monitoring patient in real time, ultrasonic propagation velocity v=331.45+ η T, η are
Constant.η is measured by test method.Ultrasonic wave is a kind of sound wave, and the factor such as its velocity of sound and temperature, humidity, pressure is relevant,
Wherein, the velocity of sound is affected by temperature larger, and through actual test, temperature often raises 1 DEG C, velocity of sound increase about η m/s, therefore, controls in vitro
Temperature sensor is set on unit 10 processed, accuracy of the measure capsule endoscope 1 in patient's body positional information can be effectively improved.
Preferably, external radio-frequency wireless transmitter module 16 includes external RF radio-frequency transmitters module and external transmitting day
Line, wherein there is external RF radio-frequency transmitters module analog video signal wireless transmitting function and simulated audio signal wirelessly to send out
Function is penetrated, and is connected with external transmitting antenna.
It is omni-directional spherical wave that miniature ultrasonic transmitter module 7 in capsule endoscope 1, which sends out ultrasonic wave, and wavefront is ball
Face, produced by sphere ultrasonic transducer；
Miniature ultrasonic transmitter module 7 includes a ultrasonic wave emission sensor；
The ultrasonic wave emission sensor of miniature ultrasonic transmitter module 7 is the pressure to be worked using the resonance manner of piezo-electric crystal
Electric-type ultrasonic transducer or the magnetostriction type ultrasonic transducer to be worked using magnetostriction mode.
Preferably, the ultrasonic wave transmission time interval of miniature ultrasonic transmitter module 7 is controlled by MCU control circuit 9, lead to
Crossing MCU control circuit 9 controls ultrasonic wave timing to launch, and the time interval may be set to 500ms, that is, is spaced 500ms and is sent out to space
Penetrate a row ultrasonic wave.
Preferably, radio-frequency transmitter module 8 includes RF radio-frequency transmitter module 8a and transmitting antenna 8b, wherein RF
Radio-frequency transmitter module 8a has an analog video signal wireless transmitting function and simulated audio signal wireless transmitting function, and with
Transmitting antenna 8b is connected.
Optical image sensor 4 in capsule endoscope 1 is cmos image sensor or ccd image sensor；
Ultrasonic wave receiving processing module 14 in external control unit 10 includes ultrasonic wave receiving array 14a and signal transacting
Circuit 14b, ultrasonic wave receiving array 14a are connected by signal processing circuit 14b with microcontroller 17, signal processing circuit 14b
Typically it is made up of integrated amplification treatment circuit or correlation detecting circuit, when ultrasonic wave receiving array 14a some receiving module inspections
When measuring ultrasonic wave, output pulse signal after signal processing circuit 14b is handled.
Preferably, signal processing circuit 14b also includes correlator, for eliminating the interference of ultrasonic wave multipath effect and suppressing
Ambient noise interference.As shown in figure 9, concrete processing procedure is：Miniature ultrasonic transmitter module 7 produces a smoothly random letter
Number X (t), ultrasonic wave receiving array 14a are in addition to receiving direct wave, the back wave that also comes by different multipath tolerants,
Ultrasonic wave receives back wave and direct wave that sensor receives to ultrasonic wave receiving array 14a and signal processing circuit 14b all the way
Signal Y (t) expressions, Y (t)=α X (t- Δs ti)+βX(t-Δti- t')+W (t), wherein α be direct wave decay factor, Δ ti,
I=1,2 ... N be miniature ultrasonic transmitter module 7 launch ultrasonic wave to ultrasonic wave receiving array 14a receive direct wave when
Between it is poor, reflect the distance between miniature ultrasonic transmitter module 7 and ultrasonic wave receiving array 14a, β for transmitting wave attenuation because
Son, t' are time delay of the back wave relative to direct wave, and W (t) is total noise that ultrasonic wave receiving array 14a is received, generally
For white noise, the ultrasonic signal statistical iteration launched with miniature ultrasonic transmitter module 7.Reference signal X (t) is to surpass with miniature
Reference signal X (t) and reception signal Y (t) is added to by acoustic emission module 7 simultaneously with the same width of frequency, the oscillator signal of time synchronized
One correlator, the output of correlator are
RYX(τ)=E [Y (t+ τ) X (t)]=E { [α X (t- Δs ti+τ)+βX(t-Δti-t'+τ)+W(t+τ)]X(t)}
=α RX(τ-Δti)+βRX[τ-(Δti+t')]
According to the property of correlation function, the output of correlator is in τ=Δ tiWhen reach maximum.Due to the propagation speed of ultrasonic wave
Degree v is that experiment can determine, therefore, if detecting the position of the output peak value of correlator, it is possible to estimate the distance of target.
Usual α is less than 1, α>>β, therefore latter β RX[τ-(Δti+ t')] will be smaller, reduce shadow of the back wave to direct wave
Ring, while suppress influence of the noise to output result.
Preferably, ultrasonic wave receiving array 14a, which includes multiple ultrasonic waves, receives sensor；
Preferably, ultrasonic wave receiving array 14a includes at least three ultrasonic wave reception sensor；
Preferably, it is the piezoelectric ultrasonic transducing to be worked using the resonance manner of piezo-electric crystal that ultrasonic wave, which receives sensor,
Device or the magnetostriction type ultrasonic transducer to be worked using magnetostriction mode；
Wireless radiofrequency receiving module 20 in external control unit 10 includes reception antenna and RF wireless radiofrequency receiving modules；
Preferably, on RF wireless radiofrequency receiving modules integrated simulation vision signal and simulated audio signal it is preposition amplification and
Process circuit, the output of RF wireless radiofrequencies receiving module are the audio signal after the CVBS vision signals of standard and amplification；
Preferably, supplying cell 6 includes the first battery 6a and the second battery 6b, miniature ultrasonic transmitter module 7 are located at
Between first battery 6a and the second battery 6b.
Preferably, integrated high-speed ADC conversions, video decoding, video shooting, shooting in audio-video signal processing module 15
The function such as change with automatic storage, display driving, video frequency output, time marking signal；
Preferably, the vision signal of audio-video signal processing module 15 is standard video output signal, can directly pass through electricity
Cable drives TV Monitor or has similar functions equipment；
Preferably, the video shooting of audio-video signal processing module 15, shooting and automatic storage, wireless or wired transmission
The trigger signal of function is controllable, is provided by microcontroller 17；
Preferably, it is TFT, OLED or class that the display driver circuit of audio-video signal processing module 15, which can drive display,
Like display device；
Power supply unit 19 in external control unit 10 can be D.C. regulated power supply or Switching Power Supply；
Display unit 18 in external control unit 10 shows for TFT, OLED display or similar display device, especially
It is 2.5 cun or 3.5 cun of display devices；
Preferably, PC work stations 13 are used for the view data obtained to external control unit 10 and positional information is classified
Storage, display, handle the view data for obtaining including positional information.
Preferably, PC work stations 13 are used to carry out the view data that external control unit 10 obtains using upper computer software
Classification, contrast, screening and output diagnostic result.
Preferably, PC work stations 13 are used to carry out the positional information that external control unit 10 obtains using upper computer software
Capsule endoscope 1 is drawn and stored in patient's body running orbit.
Originally the operation principle of the system of capsule endoscope 1 with ultrasonic wave positioning function is：
As shown in Figure 3,4, the ultrasonic wave receiving array 14a in external control unit 10 is reasonably positioned over GI Medicine
In endoscope patient room to be checked, patient home or work and study place, wherein ultrasonic wave receiving array 14a includes multiple ultrasounds
Ripple receives sensor, multiple ultrasonic waves reception sensor is reasonably placed in the environment residing for patient, when capsule endoscope 1
During into patient's body, processing is simulated in real time for the data progress that image processing module 5 collects to optical image sensor 4
Vision signal, and launched analog video data by radio-frequency transmitter module 8；Light sensor 12, in real time monitoring
The brightness of patient's body Tissue reflectance light, and MCU control circuit 9 is fed back to, MCU control circuit 9 is bright according to obtained light
Angle value, control the brightness of cold light source LED 2 in real time by pulsewidth modulation (PWM) mode, it is ensured that optical image sensor 4 can be with
Obtain patient tissue inwall clearly image；At the same time, the miniature ultrasonic transmitter module 7 set in capsule endoscope 1 exists
Under the control of MCU control circuit 9, launch ultrasonic signal in a manner of spherical wave in vitro to patient according to Fixed Time Interval, together
When MCU control circuit 9 ultrasonic wave launch time id signal is launched by the analogue audio frequency passage of radio-frequency transmitter module 8
To the external control unit 10 of patient, the wireless radiofrequency receiving module 20 in external control unit 10 receives patient using wireless mode
The analog video signal and ultrasonic wave launch time mark that internal capsule endoscope 1 is launched by radio-frequency transmitter module 8
Signal, then the audio signal conversion after the amplification that audio-video signal processing module 15 exports wireless radiofrequency receiving module 20
For time marking pulse, stored after analog video signal is handled, so that PC work stations 13 obtain patient's body
Image information；Audio-video signal processing module 15 exports the time marking pulse after processing to microcontroller 17, microcontroller
17, when receiving the time marking pulse signal rising edge of the output of audio-video signal processing module 15, start internal individual count
Device array starts timing, and the ultrasonic wave receiving array 14a in ultrasonic wave receiving processing module 14 is used to receive in capsule endoscope 1
The ultrasonic signal that miniature ultrasonic transmitter module 7 is sent, signal processing circuit 14b are used for each to ultrasonic wave receiving array 14a
Output pulse signal is to microcontroller 17 after the ultrasonic signal that road receives carries out preposition amplification and processing, when microcontroller 17 connects
Receive ultrasonic wave receiving processing module 14 certain all the way output pulse signal when control corresponding timer to stop timing, obtain capsule
The miniature ultrasonic transmitter module 7 of endoscope 1 launch ultrasonic wave to the road ultrasonic wave receiving processing module 14 receive ultrasonic wave it
Between time difference, the time difference is set as Δ ti, i=1,2 ... N, wherein N are that ultrasonic wave connects in ultrasonic wave receiving array 14a
The number of sensor is received, real-time ultrasound velocity of wave propagation v, then can be calculated each in ultrasonic wave transmitter module and ultrasonic reception array
Individual ultrasonic wave receives the distance between sensor si=v Δs ti, i=1,2 ... N, wherein N are in ultrasonic wave receiving array 14a
Ultrasonic wave receives the number of sensor, and wherein ultrasonic propagation velocity is affected by temperature larger, set in external control unit 10
Temperature sensor monitor patient home, work and study place or hospital inner environment temperature T in real time, utilize v=331.45+ η T
More accurate real-time ultrasound velocity of wave propagation v is can obtain, η can pass through determination of experimental method herein；External control unit 10 is again
Precise position information of the capsule endoscope 1 in patient's body, wherein space orientation algorithm are obtained by space orientation algorithm in real time
The number difference of sensor or the difference of set location are received according to ultrasonic wave in ultrasonic wave receiving array 14a, its space is determined
Position algorithm is also different, and detailed process includes：
The first placement location：As shown in figure 5, ultrasonic wave receiving array 14a is fixed on patient home, work and study field
Institute or hospital's interior walls upper left position, avoid blocking, ultrasonic wave receiving array 14a is by lining up the 3 of isosceles right triangle
Individual ultrasonic wave receives sensor group into 3 ultrasonic waves receive sensor and are respectively designated as R1, R2 and R3, and it is straight that R2 is arranged at isosceles
On the right angle of angle triangle, R1 to R2 spacing and R3 to R2 spacing are d.After capsule endoscope 1 enters patient's body, suffer from
Person is in the space that above-mentioned ultrasonic wave receiving array 14a is set, if miniature ultrasonic transmitter module 7 is located at TXPlace, coordinate are
(x, y, z), the oblique distance that sensor R2 is received to ultrasonic wave is LO, the oblique distance that sensor R1 is received to ultrasonic wave is LA, to ultrasonic wave
The oblique distance for receiving sensor R3 is LB, S TXProjection in xOy planes, its angle α with x-axis are target level azimuth, β
For OTXWith the angle of x-axis, γ OTXWith the angle of y-axis.
When the position of miniature ultrasonic transmitter module 7 meets far field condition, miniature ultrasonic transmitter module 7 launches omni-directional ball
Face ripple, had according to space geometry relation
So as to obtain Tx(x, y, α, beta, gamma), position of the capsule endoscope 1 in human body is uniquely determined.Wherein, v is
The spread speed of ultrasonic wave, Δ tO,ΔtA,ΔtBFor from miniature ultrasonic transmitter module TXTransmitting ultrasonic signal arrives super respectively
Acoustic receiving transducer R1,R2,R3The time difference of received ultrasonic signal.
Second of placement location：As shown in fig. 6, ultrasonic wave receiving array 14a is positioned over patient home, work and study field
Institute or hospital's interior wall Angle Position, avoid blocking；Ultrasonic wave receiving array 14a by four ultrasonic waves receive sensor groups into, if
Seated position generally configures according to orthogonal orientation, in the origin of coordinates (0,0,0), (X, 0,0), and (0, Y, 0), (0,0, Z) four positions
Ultrasonic wave receiving module R is setO,RX,RY,RZ。
Miniature ultrasonic transmitter module 7 is set in capsule endoscope 1, each ultrasonic wave is measured respectively and receives sensor to surpassing
The distance between acoustic emission module, particular location of the capsule endoscope 1 in body can be obtained after calculating.Work as ultrasound
Ripple transmitter module position meets far field condition, and miniature ultrasonic transmitter module 7 is to spatial emission omni-directional spherical wave, according to space
Geometrical relationship has
Solution can obtain
It is readily obtained ultrasonic wave launch point TXThe position vector at placeWhereinRespectively x in rectangular coordinate system,
The unit vector in y, z direction
Pass through rectangular co-ordinate (x5,y5,z5) arrive spherical coordinatesConversion, it is known that
So as to obtainPosition of the capsule endoscope 1 in human body uniquely is determined.Its
In, l1,l2,l3,l4For from ultrasonic wave transmitter module TXArrive origin of coordinates o respectively, x-axis, y-axis, between z-axis ultrasonic wave receiving module
Distance.
Wherein because the propagation of ultrasonic wave has certain diversity and diffraction, by steric requirements less-restrictive.
Even in there is barrier between main body and receiving point, as long as not exclusively blocking the propagation of ultrasonic wave, system all can steady operation.
The third placement location：As shown in fig. 7, ultrasonic wave receiving array 14a is positioned over patient home, work and study
Place or hospital's interior walls centre position, avoid blocking.
Ultrasonic wave receiving array 14a receives sensor R by ultrasonic waveD,RE,RF,RGBasic matrix is formed, when miniature ultrasonic is sent out
Penetrate the position of module 7 and meet far field condition, miniature ultrasonic transmitter module 7 is several according to space to spatial emission omni-directional spherical wave
What relation, establish measurement equation
A is basic matrix member coordinate in formula, if miniature ultrasonic transmitter module 7 is located at TXPlace, coordinate is (x6,y6,z6), to super
Acoustic receiving transducer REOblique distance be h6,s1,s2,s3Launch for miniature ultrasonic transmitter module 7
Ultrasonic wave receives sensor R to ultrasonic waveD,RF,RGRespectively sensor R is received with ultrasonic waveEBetween path difference.Wherein path difference s1=
vt1, t1Pass through path difference s for ultrasonic wave1Time difference, v is ultrasonic propagation velocity.It is similar to have s2=vt2, s3=vt3, therefore,
Measure can be tested in the velocity of sound, as long as measuring t1,t2,t3, reality of the capsule endoscope 1 in patient's body can be calculated according to above formula
Border position TX(x6,y6,z6).Because ultrasonic wave comes from same emission source TX, and miniature ultrasonic transmitter module 7 is with extremely strong
Selecting frequency characteristic, therefore it is identical that ultrasonic wave, which receives the ultrasonic signal frequency that receives of sensor, and two pairwise correlations, therefore
Can also be poor according to phase difference resolving times of two train waves.
4th kind of placement location：As shown in figure 8, ultrasonic wave receiving array 14a is positioned over patient home, work and study
Place or any position of hospital's interior walls, avoid blocking, and the system possesses full spatial domain ultrasonic wave stationkeeping ability.
Due to certain correlation be present between the signal from same ultrasonic wave emission source, by calculating different ultrasonic waves
The correlation function between the signal that sensor receives is received, it is estimated that TDOA value, wherein TDOA are a kind of wireless fixed
Position technology.Ultrasonic wave receiving array 14a receives sensor group into seven yuan of ultrasonic wave receiving array 14a by 7 ultrasonic waves, possesses complete
Spatial domain auditory localization ability.
In rectangular coordinate system, the origin of coordinates sets ultrasonic wave to receive sensor F0(0,0,0), x, y, on tri- directions of z
Two ultrasonic waves to receive sensor to the distance of the origin of coordinates be equal, be set to 2D.Then 6 receive array element coordinate difference
For：F1(D,0,0)、F2(0,D,0)、F3(-D,0,0)、F4(0,-D,0)、F5(0,0,D)、F6(0,0,-D).If miniature ultrasonic
The coordinate of transmitter module 7 is TX(x7,y7,z7), it is r to coordinate origin distance70, angle of pitch θ7, azimuth isIt is miniature
Ultrasonic wave transmitter module 7 receives sensor F with each ultrasonic wave0,F1,F2,F3,F4,F5,F6Distance be respectively r70,r71,r72,
r73,r74,r75,r76。
Ultrasonic wave is sent from miniature ultrasonic transmitter module 7, in a manner of the spherical wave of all directions uniform velocity, reaches F1When
Between with reach F3Time interval be t13, the like understand t24,t56If ultrasonic propagation velocity is v.When ultrasonic wave is launched
Module position meets far field condition, and miniature ultrasonic transmitter module 7 closes to spatial emission omni-directional spherical wave according to space geometry
System can draw：
Received because distance of the miniature ultrasonic transmitter module 7 away from ultrasonic wave receiving array 14a is far longer than each ultrasonic wave
The distance between sensor, therefore
In summary, calculate the angle of pitch and azimuth is respectively
It can be seen that ultrasonic wave transmitting can be obtained by the delay of ultrasonic wave transmitter module to ultrasonic wave receiving array 14a array elements
The position of module
Capsule endoscope 1 is obtained after the precise position information of patient's body according to any of the above-described hollow location algorithm,
It is loaded into by audio-video signal processing module 15 in view data and stores control unit 10 in vitro, and passes through wired or nothing
View data comprising positional information is sent to PC work stations 13 by line mode, and PC work stations 13 are used for described external control
The view data and positional information that unit 10 obtains carry out classification storage and display, classified using upper computer software, contrasted,
Screening and output diagnostic result, carry out capsule endoscope 1 and draw and store in patient's body running orbit, patient can independently complete
Check, output diagnostic result, running orbit are drawn and the function such as storage, conveniently comfortable treatment is really realized, beneficial to disappearing
Change tract disease diagnosis.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although capsule endoscope 1, capsule housing 1a, transparent optical protecgulum 1b, cold light source LED have more been used herein
2nd, camera lens 3, optical image sensor 4, image processing module 5, supplying cell 6, miniature ultrasonic transmitter module 7, wireless radiofrequency
Transmitter module 8, RF radio-frequency transmitter modules 8a, transmitting antenna 8b, MCU control circuit 9, external control unit 10, LED lamp panel
11st, light sensor 12, PC work stations 13, ultrasonic wave receiving processing module 14, ultrasonic wave receiving array 14a, signal transacting electricity
Road 14b, audio-video signal processing module 15, external radio-frequency wireless transmitter module 16, microcontroller 17, display unit 18, power supply
The terms such as part 19, wireless radiofrequency receiving module 20, but it is not precluded from the possibility using other terms.Using these terms only
Merely to more easily describe and explain the essence of the present invention；Being construed as any additional limitation is all and this
What spirit was disagreed.
Claims (9)
1. the capsule endoscope system with ultrasonic wave positioning function, it is characterised in that the capsule endoscope system includes glue
Intracapsular sight glass (1) and external control unit (10), be provided with the capsule endoscope (1) MCU control circuit (9) and with institute
State the miniature ultrasonic transmitter module (7) and radio-frequency transmitter module (8) of MCU control circuit (9) connection, the miniature ultrasonic
It is omni-directional spherical wave that ripple transmitter module (7), which sends out ultrasonic wave, and wavefront is sphere, is produced by sphere ultrasonic transducer, described
External control unit (10) includes microcontroller (17) and the wireless radiofrequency receiving module being connected with the microcontroller (17)
(20) and ultrasonic wave receiving processing module (14), the ultrasonic wave receiving processing module (14) include ultrasonic wave receiving array
(14a) and signal processing circuit (14b), the signal processing circuit (14b) include being used to eliminate the interference of ultrasonic wave multipath effect
Correlator with ambient noise interference is suppressed, sound is connected between the microcontroller (17) and wireless radiofrequency receiving module (20)
Video signal processing module (15), MCU control circuit (9) the control miniature ultrasonic transmitter module (7) are super to external transmitting
While acoustic signals, ultrasonic wave launch time is launched to external control unit (10) by radio-frequency transmitter module (8)
Id signal, the ultrasonic signal that the ultrasonic wave receiving processing module (14) is used to receive capsule endoscope (1) transmitting are gone forward side by side
Output pulse signal gives microcontroller (17) after row processing, and the correlator is used for received ultrasonic signal Y (t) and reference signal
X (t), the reference signal X (t) are with width and the oscillator signal of time synchronized, institute with miniature ultrasonic transmitter module (7) with frequency
Correlator is stated to export after ultrasonic signal Y (t) and reference signal X (t) is handled：
RYX(τ)=E [Y (t+ τ) X (t)]=E { [α X (t- Δs ti+τ)+βX(t-Δti-t'+τ)+W(t+τ)]X(t)}
=α RX(τ-Δti)+βRX[τ-(Δti+t')]
Wherein, Y (t)=α X (t- Δs ti)+βX(t-Δti-t')+W(t)；
Wherein, α is direct wave decay factor；Δti, i=1,2 ... N is the time difference launched ultrasonic wave and receive ultrasonic wave；β
For transmitted wave decay factor；T' is time delay of the back wave relative to direct wave；W (t) is that ultrasonic wave receiving array (14a) receives
Total noise；The audio-video signal processing module (15) is sent out by patient's body what wireless radiofrequency receiving module (20) received
The id signal of the ultrasonic wave launch time gone out is handled, and then the time marking pulse signal after transmission processing is to microcontroller
Device (17), the microcontroller (17) are real according to return pulse signal and the time difference of time marking pulse signal and ultrasonic wave
When spread speed calculate the distance between miniature ultrasonic transmitter module (7) and ultrasonic wave receiving processing module (14), and then
Positional information of the capsule endoscope (1) in patient's body is obtained by space orientation algorithm.
2. the capsule endoscope system according to claim 1 with ultrasonic wave positioning function, it is characterised in that described super
Acoustic receiver array (14a) includes several ultrasonic waves and receives sensor.
3. the capsule endoscope system according to claim 2 with ultrasonic wave positioning function, it is characterised in that described super
Acoustic receiver array (14a) includes at least three ultrasonic waves and receives sensor.
4. the capsule endoscope system according to claim 3 with ultrasonic wave positioning function, it is characterised in that described micro-
Controller (17) calculates miniature ultrasonic transmitter module (7) in capsule endoscope (1) and launches ultrasonic wave to ultrasonic wave reception processing
Module (14) receives the time difference between ultrasonic wave, and the time difference is set as into Δ ti, the setting of real-time ultrasound velocity of wave propagation
For v, miniature ultrasonic transmitter module (7) in capsule endoscope (1) with it is each super in ultrasonic wave receiving processing module (14)
The distance between acoustic receiving transducer is set as si,si=v Δs ti, i=1,2 ... N, wherein N are that ultrasonic wave receives sensing
The number of device, the microcontroller (17) and then draws capsule endoscope (1) in patient's body in real time by space orientation algorithm
Precise position information, be loaded into view data and stored by audio-video signal processing module (15).
5. the capsule endoscope system according to claim 4 with ultrasonic wave positioning function, it is characterised in that the body
Outer control unit (10) also includes the temperature sensor being connected with microcontroller (17), and the temperature sensor is used to monitor in real time
It is constant that patient, which takes capsule endoscope (1) local environment temperature T afterwards, ultrasonic propagation velocity v=331.45+ η T, η,.
6. the capsule endoscope system with ultrasonic wave positioning function according to claim 1 or 4 or 5, it is characterised in that
Capsule endoscope (1) system also includes PC work stations (13), and the PC work stations (13) pass through wired or wireless mode
The view data comprising positional information of external control unit (10) storage is subjected to reception processing.
7. the capsule endoscope system according to claim 1 with ultrasonic wave positioning function, it is characterised in that the body
Outer control unit (10) also includes being used for the power supply unit (19) and and sound for providing the external control unit (10) power supply
The display unit (18) of video signal processing module (15) connection.
8. the capsule endoscope system according to claim 1 with ultrasonic wave positioning function, it is characterised in that the glue
Intracapsular sight glass (1) includes capsule housing (1a) and transparent optical protecgulum (1b), the capsule housing (1a) and transparent optical protecgulum
(1b) is attached by buckle or bonding mode.
9. the capsule endoscope system according to claim 8 with ultrasonic wave positioning function, it is characterised in that the glue
In intracapsular sight glass (1) housing, optical frames is also disposed with from transparent optical protecgulum (1b) along capsule endoscope (1) axis
Head (3), LED lamp panel (11), optical image sensor (4), image processing module (5) and supplying cell (6), described image processing
Module (5) is connected with optical image sensor (4) and radio-frequency transmitter module (8) respectively, is set on the LED lamp panel (11)
Be equipped with cold light source LED (2), light sensor (12) and optical lens (3), the MCU control circuit (9) respectively with the light
Dependent sensor (12) and cold light source LED (2) connection, the supplying cell (6) respectively with the LED lamp panel (11), optical picture
As sensor (4), image processing module (5), MCU control circuit (9) and radio-frequency transmitter module (8) connection.
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