CN106983487B - The positioning system and its localization method of Wireless capsule endoscope three-dimensional position and 3 d pose - Google Patents
The positioning system and its localization method of Wireless capsule endoscope three-dimensional position and 3 d pose Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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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- A61B1/00147—Holding or positioning arrangements
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- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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Abstract
The present invention provides the positioning systems and its localization method of Wireless capsule endoscope three-dimensional position and 3 d pose, including being set to the transmitting coil that outside human body and three axis are orthogonal, external wireless receiving module, external pose computing 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, the orthogonal induction coil of two axis is only arranged in Wireless capsule endoscope, transmitting coil is placed near human body, the coil I of transmitting coil, the signal of the respective fixed frequency of coil II and coil III sequential transmission, three axis transmitting coils have emitted a signal and have been known as a cycle, the voltage signal of two axis induction coils, three groups of different frequencies of inductive output in one cycle, to establish the calculating that equation group carries out three-dimensional position and 3 d pose, this method is integrated convenient, the two axis lines of induction It encloses and uses Wireless capsule endoscope space small, real-time continuous Wireless capsule endoscope can be positioned, facilitate subsequent operation, it is securely and reliably, low in cost.
Description
[technical field]
The present invention relates to the positioning of three-dimensional localization techniques more particularly to Wireless capsule endoscope three-dimensional position and 3 d pose
System and its localization method.
[background technique]
Currently, clinical one of Wireless capsule endoscope disadvantage be exactly cannot actively it is controlled, to realize this actively it is controlled
Function simultaneously facilitates clinical use, and the three-dimensional position and 3 d pose information of Wireless capsule endoscope want Real-time Feedback to give control system
System；Meanwhile Wireless capsule endoscope vision guided navigation in the alimentary canal of reconstruction is also required to three-dimensional position and 3 d pose information, doctor
Life could facilitate manipulation wireless capsule sight glass.
In view of the above problems, generally using X-ray imaging, CT (computed tomography) and MRI, (nuclear-magnetism is total in the prior art
Vibration) imaging technique carries out three-dimensional reconstruction and positions Wireless capsule endoscope, this speed and essence by reconstruction technique indirect addressing
Degree is all affected, and ray has damage, should not position for a long time.
The Given Imaging company of Israel proposes a kind of applied to the wireless of Wireless capsule endoscope positioning earliest
Radio frequency (RF) signal framing technology.It is sent out using Wireless capsule endoscope in 8 wireless radio frequency antenna receiving body out of the human body
The radio frequency signal penetrated, and utilize the position of algorithm acquisition Wireless capsule endoscope.Wireless capsule is directly utilized in this method
Endoscope transmits the radio frequency signal of image, the disadvantage is that positioning accuracy is low, average positioning accuracy is 37.7 millimeters, clinical application
Effect is bad.
Also it is proposed that positioning Wireless capsule endoscope using permanent magnetism location technology.It is put inside Wireless capsule endoscope
Permanent magnet is set as magnetic marker to be calculated in the magnetic field that human peripheral arranges multiple magnetic field sensor measurements difference with algorithm
Three-dimensional position and alignment lens (two dimension) direction of Wireless capsule endoscope.The technology has precision high, fast excellent of locating speed
Point, but can not determine the direction change information that Wireless capsule endoscope rotates around the spindle, this one-dimensional loss of learning cannot utilize
The image of Wireless capsule endoscope shooting carries out alimentary canal three-dimensional reconstruction；In addition, the magnetic field strength due to permanent magnet increases with distance
Add rapid decay, the effective distance between magnetic field sensor and magnetic marker is difficult to meet human dimension requirement.
Also it has been proposed that the localization method based on permanent magnetism and induction coil, i.e., using the position of mechanical arm control permanent magnet and
Direction, allows permanent magnet reciprocating generation changing magnetic field under the action of shock module, the triaxial induction coil in capsule
Export induced electromotive force.The method needs to arrange that two triaxial induction coils could position in Wireless capsule endoscope, increase
The volume of big Wireless capsule endoscope.
[summary of the invention]
In order to solve prior art deficiency, the purpose of the present invention is to provide one kind only with a two axis induction coils,
Integrated convenient, occupancy Wireless capsule endoscope space is small, real-time continuous can position to Wireless capsule endoscope, facilitate subsequent operation
Wireless capsule endoscope three-dimensional position and 3 d pose positioning system and its localization method.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is that:
The first invention purpose of the invention, provides the positioning system of Wireless capsule endoscope three-dimensional position and 3 d pose,
Including being set to the transmitting coil, external wireless receiving module, external pose computing module and be located at that outside human body and three axis are orthogonal
Intracorporal Wireless capsule endoscope, the transmitting coil are made of the orthogonal coil I of three axis, coil II and coil III, the line
The signal of the respective fixed frequency of I, coil II and coil III sequential transmission is enclosed, coil I, coil II, coil III have emitted once
Signal forms a cycle；The orthogonal induction coil of two axis is provided in the Wireless capsule endoscope, two axis is orthogonal
Induction coil corresponds to the voltage signal of three groups of different frequencies of output in a cycle of transmitting coil, and the line of induction that two axis are orthogonal
The voltage signal number for enclosing every group of different frequency of output is two；Pass through between the transmitting coil and Wireless capsule endoscope
Alternating magnetic field forms magnetic circuit, is connected between the Wireless capsule endoscope and external wireless receiving module by wireless signal, institute
It is directly connected between rheme appearance computing module and external wireless receiving module.
Preferably, the Wireless capsule endoscope further includes signal amplification module, AD conversion module and wireless sending module,
The orthogonal induction coil of two axis is directly connected to signal amplification module, and the signal amplification module and AD conversion module are direct
Connection, the AD conversion module are directly connected to wireless sending module.
Second goal of the invention of invention, provides the localization method of Wireless capsule endoscope three-dimensional position and 3 d pose, packet
Include following steps:
The orthogonal transmitting coil of three axis is arranged in step 1 out of the human body, and it is orthogonal that two axis are arranged in Wireless capsule endoscope
Induction coil, transmitting coil are made of the orthogonal coil I of three axis, coil II and coil III；
The coordinate system OXYZ that three axis where step 2, transmitting coil are established is as reference frame, two axis of induction coil
Intersection point be arranged in Wireless capsule endoscope central point, as the position of Wireless capsule endoscope, the table in reference frame
It is shown as (x, y, z), the coordinate system O'u that two where induction coil axis is establishedxuy uzAs object coordinates system, unit vector is used
uxAnd uyIndicate the posture of Wireless capsule endoscope；
Step 3, after powering on, coil I, coil II and the coil III of transmitting coil sequential transmission within each period are each
The signal of self-retaining frequency；
The output voltage of amplification module amplification induction coil in step 4, Wireless capsule endoscope；
Output voltage of the AD conversion module sampling by amplification in step 5, Wireless capsule endoscope；
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 pose computing module；
Step 8, the position fixing process of pose computing module are as follows:
Solve 9 parameters (x, y, z, uxx,uxy,uxz,uyx,uyy,uyz), wherein (uxx,uxy,uxz) and (uyx,uyy,uyz) point
It Biao Shi not uxAnd uyIn the projection components of the X, Y, Z axis of reference frame；
The transmitting coil of each axis is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole is wireless
At capsule endoscope position generate magnetic density along reference frame X, Y, Z axis three quadrature components such as formula (1),
(2), shown in (3):
Wherein, (m, n, p) is the direction vector of each axis transmitting coil, and (x, y, z) is the position of induction coil, (a, b, c)
It is the position of transmitting coil, BTIt is a constant related with transmitting coil, L is distance of the induction coil to transmitting coil, and L is such as
Shown in formula (4):
Due to object coordinates, system is deflected, and the reference axis of object coordinates system and the reference axis of reference frame do not weigh
It closes, transmitting coil is formula (5) institute in value of the magnetic density that Wireless capsule endoscope position generates under object coordinates system
Show:
Wherein, R is position and orientation matrix, as shown in formula (6), since only there are two induction coils, so B'zNot excitation variable winding
Output voltage；
Wherein
(uxx,uxy,uxz)=ux (7)
(uyx,uyy,uyz)=uy (8)
Induction coil output is induced voltage signal, the sense generated according to Faraday's electromagnetic induction law, induction coil
Answering electromotive force is shown in formula (9):
Wherein, N is number of inductive coil turns, and φ is the magnetic flux across curved surface S；
In uxAnd uyOn direction, the relationship between the voltage signal and magnetic density of induction coil output is as follows:
Due to sensor coil very little, therefore its volume is ignored, it is believed that magnetic density is equal everywhere for induction coil, so public
Formula (10) and (11) become following formula (12) and (13),
Because the direction of induction coil is identical as the change in coordinate axis direction of object coordinates system, obtain following formula (14) and
(15),
If emitting the sinusoidal signal of given frequency, the magnetic density under object coordinates system can be described as following formula
(16):
So far, it can be deduced that the u of induction coilx、uyOn axis output voltage values and each axis of object coordinates system magnetic density it
Between relational expression, as shown in formula (17), (18):
The output voltage signal of induction coil be with transmitting signal same frequency cosine signal, take the amplitude of the signal to build
Vertical equation group, if ETx=-ωxNx·Sx, ETy=-ωyNy·Sy, ETz=-ωzNz·Sz, obtain equation group (19), (20) such as
Under:
εx max=-ω Nx·B'x max·Sx=ETx·B'x max (19)
εy max=-ω Ny·B'y max·Sy=ETy·B'y max (20)
The method for extracting cosine signal amplitude and phase has Fast Fourier Transform (FFT) or Function Fitting method etc.；
If the transmitting coil of three axis successively motivates the sinusoidal signal of respective fixed frequency, the induction coil of two axis amounts to sense
It should be to 6 groups of alternating signals, so as to establish 6 equations, due to solve 9 unknown parameters, so also needing 3 equations；
Due to uxAnd uyUnit vector is taken, and is mutually perpendicular to, so following 3 constraint equations are further added by, 3 equations (21),
(22), (23) are as follows:
uxx.uyx+uxy.uyy+uxz.uyz=0 (23)
Three axis of transmitting coil are analyzed separately below:
Coil I corresponds to the X-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(1,0,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (24), (25) and (26):
Coil II corresponds to the Y-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,1,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (27), (28) and (29):
Coil III corresponds to the Z axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,0,1)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (30), (31) and (32):
According to formula (5), (19) and (20), it is as follows to re-define formula (33):
Wherein, Bix max、Biy maxAnd Biz maxIt is coil I, coil II and coil the III transmitting of three axis transmitting coils respectively
When, the magnetic density of generation is B along the amplitude of three components of X, Y, Z axis of reference frame at induction coilix、Biy
And BizAmplitude；εix maxAnd εiy maxWhen being coil I, coil II and coil the III transmitting of three axis transmitting coils respectively, wireless glue
The u of two axis induction coils in intracapsular sight glassxAnd uyThe theoretical amplitude of axis induced voltage, εiz maxThere is no induction coil output, so
It is not involved in calculating；
If ε 'ix maxWith ε 'iy maxWhen being coil I, coil II and coil the III transmitting of transmitting coil respectively, wireless capsule
The u of two axis induction coils in endoscopexAnd uyThe real output value of axis induced voltage, i.e. measured value define the formula of error E
(34) as follows:
Using optimization algorithm such as Levenberg-Marquardt or Gauss-Newton algorithm etc., keep E minimum, it can be in the hope of
Solve pose parameter (x, y, z, the u of Wireless capsule endoscopexx,uxy,uxz,uyx,uyy,uyz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, pose computing module, and reflection is worked as in real time
The pose of preceding Wireless capsule endoscope, convenient for operator's observation or subsequent applications.
The beneficial effects of the present invention are:
The present invention is only arranged in Wireless capsule endoscope using the orthogonal transmitting coil of three axis is arranged out of the human body
The orthogonal induction coil of one two axis, transmitting coil are placed near human body, coil I, coil II and the coil III of transmitting coil
The signal of the respective fixed frequency of sequential transmission, three axis transmitting coils have emitted a signal and have been known as a cycle, the two axis lines of induction
The voltage signal of three groups of different frequencies of inductive output in one cycle is enclosed, so that establishing equation group carries out Wireless capsule endoscope
The calculating of three-dimensional position and 3 d pose, this method is integrated conveniently, two axis induction coils occupancy Wireless capsule endoscope space is small,
Real-time continuous Wireless capsule endoscope can be positioned, facilitate subsequent operation, it is safe and reliable, low in cost.
[Detailed description of the invention]
Fig. 1 is the amplification of two axial coils inside external three axis transmitting coil of the invention and its corresponding Wireless capsule endoscope
Structural schematic diagram；
Fig. 2 is positioning flow figure of the invention.
[specific embodiment]
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
The positioning system of Wireless capsule endoscope three-dimensional position and 3 d pose, as shown in Figure 1, including being set to outside human body
And three orthogonal transmitting coils of axis, external wireless receiving module, external pose computing module and it is located in intracorporal wireless capsule
Sight glass, the transmitting coil are 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 fixed frequency of III sequential transmission, coil I, coil II, coil III have emitted a signal and have formed a cycle；
The orthogonal induction coil of two axis is provided in the Wireless capsule endoscope, the orthogonal induction coil of two axis corresponds to emission lines
The voltage signal of three groups of different frequencies of output in a cycle of circle, and every group of different frequencies of the orthogonal induction coil output of two axis
The voltage signal number of rate is two；Magnetic circuit is formed by alternating magnetic field between the transmitting coil and Wireless capsule endoscope,
It is connected between the Wireless capsule endoscope and external wireless receiving module by wireless signal, the pose computing module and body
It is directly connected between outer wireless receiving module.
Wherein, Wireless capsule endoscope further includes signal amplification module, AD conversion module and wireless sending module, and described two
The orthogonal induction coil of axis is directly connected to signal amplification module, and the signal amplification module is directly connected to AD conversion module,
The AD conversion module is directly connected to wireless sending module.
The Wireless capsule endoscope three-dimensional position of the embodiment and the localization method of 3 d pose, as shown in Fig. 2, include with
Lower step:
The orthogonal transmitting coil of three axis is arranged in step 1 out of the human body, and it is orthogonal that two axis are arranged in Wireless capsule endoscope
Induction coil, transmitting coil are made of the orthogonal coil I of three axis, coil II and coil III；
The coordinate system OXYZ that three axis where step 2, transmitting coil are established is as reference frame, two axis of induction coil
Intersection point be arranged in Wireless capsule endoscope central point, as the position of Wireless capsule endoscope, the table in reference frame
It is shown as (x, y, z), the coordinate system O'u that two where induction coil axis is establishedxuy uzAs object coordinates system, unit vector is used
uxAnd uyIndicate the posture of Wireless capsule endoscope；
Step 3, after powering on, coil I, coil II and the coil III of transmitting coil sequential transmission within each period are each
The signal of self-retaining frequency；
The output voltage of amplification module amplification induction coil in step 4, Wireless capsule endoscope；
Output voltage of the AD conversion module sampling by amplification in step 5, Wireless capsule endoscope；
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 pose computing module；
Step 8, the position fixing process of pose computing module are as follows:
Solve 9 parameters (x, y, z, uxx,uxy,uxz,uyx,uyy,uyz), wherein (uxx,uxy,uxz) and (uyx,uyy,uyz) point
It Biao Shi not uxAnd uyIn the projection components of the X, Y, Z axis of reference frame；
The transmitting coil of each axis is equivalent at magnetic dipole, and according to Biot's Sa farr's law, magnetic dipole is in wireless glue
Nang Neikuijingweizhichu generate magnetic density along reference frame X, Y, Z axis three quadrature components such as formula (1),
(2), shown in (3):
Wherein, (m, n, p) is the direction vector of each axis transmitting coil, and (x, y, z) is the position of induction coil, (a, b, c)
It is the position of transmitting coil, BTIt is a constant related with transmitting coil, L is distance of the induction coil to transmitting coil, and L is such as
Shown in formula (4):
Due to object coordinates, system is deflected, and the reference axis of object coordinates system and the reference axis of reference frame do not weigh
It closes, transmitting coil is formula (5) institute in value of the magnetic density that Wireless capsule endoscope position generates under object coordinates system
Show:
Wherein, R is position and orientation matrix, as shown in formula (6), since only there are two induction coils, so B'zNot excitation variable winding
Output voltage；
Wherein
(uxx,uxy,uxz)=ux (7)
(uyx,uyy,uyz)=uy (8)
Induction coil output is induced voltage signal, the sense generated according to Faraday's electromagnetic induction law, induction coil
Answering electromotive force is shown in formula (9):
Wherein, N is number of inductive coil turns, and φ is the magnetic flux across curved surface S；
In uxAnd uyOn direction, the relationship between the voltage signal and magnetic density of induction coil output is as follows:
Due to sensor coil very little, therefore its volume is ignored, it is believed that magnetic density is equal everywhere for induction coil, so public
Formula (10) and (11) become following formula (12) and (13),
Because the direction of induction coil is identical as the change in coordinate axis direction of object coordinates system, obtain following formula (14) and
(15),
If emitting the sinusoidal signal of given frequency, it is also possible to which other signals, the invention is not limited thereto, under object coordinates system
Magnetic density can be described as following formula (16):
So far, it can be deduced that the u of induction coilx、uyOn axis output voltage values and each axis of object coordinates system magnetic density it
Between relational expression, as shown in formula (17), (18):
The output voltage signal of induction coil be with transmitting signal same frequency cosine signal, take the amplitude of the signal to build
Vertical equation group, if ETx=-ωxNx·Sx, ETy=-ωyNy·Sy, ETz=-ωzNz·Sz, obtain equation group (19), (20) such as
Under:
εx max=-ω Nx·B'x max·Sx=ETx·B'x max (19)
εy max=-ω Ny·B'y max·Sy=ETy·B'y max (20)
The method for extracting cosine signal amplitude and phase has Fast Fourier Transform (FFT) or Function Fitting method, it is also possible to other
Method, the invention is not limited thereto,
The transmitting coil of three axis successively motivates the sinusoidal signal of respective different frequency, and two axis induction coils total senses
6 groups of alternating signals, so as to establish 6 equations, due to solve 9 unknown parameters, so also needing 3 equations；Due to
uxAnd uyTake unit vector, and be mutually perpendicular to, so be further added by following 3 constraint equations, 3 equations (21), (22),
(23) as follows:
uxx.uyx+uxy.uyy+uxz.uyz=0 (23)
Three axis of transmitting coil are analyzed separately below:
Coil I corresponds to the X-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(1,0,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (24), (25) and (26):
Coil II corresponds to the Y-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,1,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (27), (28) and (29):
Coil III corresponds to the Z axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,0,1)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (30), (31) and (32):
According to formula (5), (19) and (20), it is as follows to re-define formula (33):
Wherein, Bix max、Biy maxAnd Biz maxIt is coil I, coil II and coil the III transmitting of three axis transmitting coils respectively
When, the magnetic density of generation is B along the amplitude of three components of X, Y, Z axis of reference frame at induction coilix、Biy
And BizAmplitude；εix maxAnd εiy maxWhen being coil I, coil II and coil the III transmitting of three axis transmitting coils respectively, wireless glue
The u of two axis induction coils in intracapsular sight glassxAnd uyThe theoretical amplitude of axis induced voltage, εiz maxThere is no induction coil output, so
It is not involved in calculating；
If ε 'ix maxWith ε 'iy maxWhen being coil I, coil II and coil the III transmitting of transmitting coil respectively, wireless capsule
The u of two axis induction coils in endoscopexAnd uyThe real output value of axis induced voltage, i.e. measured value define the formula of error E
(34) as follows:
Utilize optimization algorithm such as Levenberg-Marquardt or Gauss-Newton algorithm, it is also possible to other methods, this
It invents without being limited thereto, keeps E minimum, pose parameter (x, y, z, the u of Wireless capsule endoscope can be solvedxx,uxy,uxz,uyx,
uyy,uyz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, pose computing module, and reflection is worked as in real time
The pose of preceding Wireless capsule endoscope, convenient for operator's observation or subsequent applications.
Embodiment described above is only presently preferred embodiments of the present invention, and but not intended to limit the scope of the present invention,
It is all according to equivalence changes made by the principle of the invention except in the case of being enumerated in specific embodiment, it should all be covered by of the invention
In protection scope.
Claims (3)
1. the positioning system of Wireless capsule endoscope three-dimensional position and 3 d pose, including being set to outside human body and three axis are orthogonal
Transmitting coil, external wireless receiving module, external pose computing module and it is located at intracorporal Wireless capsule endoscope, feature exists
In:
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 fixed frequency of III sequential transmission, coil I, coil II, coil III have emitted a signal and have formed a cycle；
The orthogonal induction coil of two axis, the corresponding hair of the orthogonal induction coil of two axis are provided in the Wireless capsule endoscope
The voltage signal of three groups of different frequencies of output in a cycle of ray circle, and every group of the orthogonal induction coil output of two axis is not
The voltage signal number of same frequency is two；
Between the transmitting coil and Wireless capsule endoscope by alternating magnetic field formed magnetic circuit, the Wireless capsule endoscope with
It is connected between external wireless receiving module by wireless signal, it is straight between the pose computing module and external wireless receiving module
It connects in succession.
2. the positioning system of Wireless capsule endoscope three-dimensional position and 3 d pose according to claim 1, feature exist
In the Wireless capsule endoscope further includes signal amplification module, AD conversion module and wireless sending module, and two axis is orthogonal
Induction coil be directly connected to signal amplification module, the signal amplification module is directly connected to AD conversion module, the AD
Conversion module is directly connected to wireless sending module.
3. the localization method of Wireless capsule endoscope three-dimensional position and 3 d pose, two are provided in the Wireless capsule endoscope
The orthogonal induction coil of axis, which comprises the following steps:
The orthogonal transmitting coil of three axis is arranged in step 1 out of the human body, and transmitting coil is by the orthogonal coil I of three axis, coil II and line
Enclose III composition；
The coordinate system OXYZ that three axis where step 2, transmitting coil are established is as reference frame, the friendship of two axis of induction coil
Point is arranged in Wireless capsule endoscope central point, as the position of Wireless capsule endoscope, is expressed as in reference frame
(x, y, z), the coordinate system O'u that two axis where induction coil are establishedxuy uzAs object coordinates system, with unit vector uxWith
uyIndicate the posture of Wireless capsule endoscope；
Step 3, after powering on, coil I, coil II and the coil III of transmitting coil sequential transmission within each period are respectively solid
Determine the signal of frequency；
The output voltage of amplification module amplification induction coil in step 4, Wireless capsule endoscope；
Output voltage of the AD conversion module sampling by amplification in step 5, Wireless capsule endoscope；
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 pose computing module；
Step 8, the position fixing process of pose computing module are as follows:
Solve 9 parameters (x, y, z, uxx,uxy,uxz,uyx,uyy,uyz), wherein (uxx,uxy,uxz) and (uyx,uyy,uyz) difference table
Show uxAnd uyIn the projection components of reference frame X, Y, Z axis；
The transmitting coil of each axis is equivalent to magnetic dipole, according to Biot's Sa farr's law, magnetic dipole is in wireless capsule
At endoscope position generate magnetic density along reference frame X, Y, Z axis three quadrature components for example formula (1), (2),
(3) shown in:
Wherein, (m, n, p) is the direction vector of each axis transmitting coil, and (x, y, z) is the position of induction coil, and (a, b, c) is hair
The position of ray circle, BTIt is a constant related with transmitting coil, L is distance of the induction coil to transmitting coil, L such as formula
(4) shown in:
Due to object coordinates, system is deflected, and the reference axis of object coordinates system is not overlapped with the reference axis of reference frame, hair
Ray circle is shown in formula (5) in value of the magnetic density that Wireless capsule endoscope position generates under object coordinates system:
Wherein, R is position and orientation matrix, as shown in formula (6), since only there are two induction coils, so B'zExcitation variable winding does not export
Voltage；
Wherein
(uxx,uxy,uxz)=ux (7)
(uyx,uyy,uyz)=uy (8)
Induction coil output is induced voltage signal, the induced electricity generated according to Faraday's electromagnetic induction law, induction coil
Kinetic potential is shown in formula (9):
Wherein, N is number of inductive coil turns, and φ is the magnetic flux across curved surface S；
In uxAnd uyOn direction, the relationship between the voltage signal and magnetic density of induction coil output is as follows:
Due to sensor coil very little, therefore its volume is ignored, it is believed that magnetic density is equal everywhere for induction coil, so formula
(10) and (11) become following formula (12) and (13),
Because the direction of induction coil is identical as the change in coordinate axis direction of object coordinates system, obtain following formula (14) and
(15),
If emitting the sinusoidal signal of given frequency, the magnetic density under object coordinates system can be described as following formula (16):
So far, it can be deduced that induction coil ux、uyPass on each axis of axis output voltage values and object coordinates system between magnetic density
It is formula, as shown in formula (17), (18):
The output voltage signal of induction coil be with transmitting signal same frequency cosine signal, take the amplitude of the signal come the side of foundation
Journey group, if ETx=-ωxNx·Sx, ETy=-ωyNy·Sy, ETz=-ωzNz·Sz, it is as follows to obtain equation (19), (20):
εxmax=-ω Nx·B'xmax·Sx=ETx·B'xmax (19)
εymax=-ω Ny·B'ymax·Sy=ETy·B'ymax (20)
The method for extracting cosine signal amplitude and phase has Fast Fourier Transform (FFT) or Function Fitting method；
If the transmitting coil of three axis successively motivates the sinusoidal signal of respective fixed frequency, two axis induction coils total senses 6
Group alternating signal, so as to establish 6 equations, due to solve 9 unknown parameters, so also needing 3 equations；Due to ux
And uyUnit vector is taken, and is mutually perpendicular to, so following 3 constraint equations are further added by, 3 equations (21), (22), (23)
It is as follows:
uxx.uyx+uxy.uyy+uxz.uyz=0 (23)
Three axis of transmitting coil are analyzed separately below:
Coil I corresponds to the X-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(1,0,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (24), (25) and (26):
Coil II corresponds to the Y-axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,1,0)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (27), (28) and (29):
Coil III corresponds to the Z axis of reference frame, and position and direction parameter is
(a, b, c)=(0,0,0)
(m, n, p)=(0,0,1)
It carries it into formula (1), (2) and (3), it is as follows to obtain formula (30), (31) and (32):
According to formula (5), (19) and (20), it is as follows to re-define formula (33):
Wherein, Bixmax、BiymaxAnd BizmaxWhen being coil I, coil II and coil the III transmitting of three axis transmitting coils respectively, feeling
It answers the magnetic density of generation at coil along the amplitude of three components of X, Y, Z axis of reference frame, is Bix、BiyAnd Biz's
Amplitude；εixmaxAnd εiymaxWhen being coil I, coil II and coil the III transmitting of three axis transmitting coils respectively, peeped in wireless capsule
The u of two axis induction coils in mirrorxAnd uyThe theoretical amplitude of axis induced voltage, εizmaxThere is no corresponding induction coil to export, so
It is not involved in calculating；
If ε 'ixmaxWith ε 'iymaxWhen being coil I, coil II and coil the III transmitting of transmitting coil respectively, Wireless capsule endoscope
The u of interior two axis induction coilxAnd uyThe real output value of axis induced voltage, i.e. measured value, the formula (34) for defining error E are as follows:
Using optimization algorithm Levenberg-Marquardt or Gauss-Newton algorithm, keep E minimum, can solve wireless
Pose parameter (x, y, z, the u of capsule endoscopexx,uxy,uxz,uyx,uyy,uyz)；
The posture information of Wireless capsule endoscope is sent to display terminal by step 9, pose computing module, reflects current nothing in real time
The pose of line capsule endoscope, convenient for operator's observation or subsequent applications.
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| CN108553072B (en) * | 2018-02-09 | 2024-05-31 | 上海理工大学 | Digital positioning system and method for digestive tract electronic capsule |
| US11129518B2 (en) * | 2018-05-05 | 2021-09-28 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Portable system and method for position and orientation of remote objects |
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| CN112842320B (en) * | 2019-11-28 | 2023-03-24 | 安翰科技(武汉)股份有限公司 | Swallowable device positioning system and method thereof |
| CN110811497A (en) * | 2019-12-06 | 2020-02-21 | 深圳市资福医疗技术有限公司 | Control method of capsule endoscope and capsule endoscope using control method |
| CN111207737B (en) * | 2020-03-01 | 2023-03-24 | 中北大学 | Capsule robot posture measuring system and method based on three-dimensional coil |
| CN111256692B (en) * | 2020-03-01 | 2023-03-10 | 中北大学 | Capsule robot attitude determination system and method based on sensor and one-dimensional coil |
| CN111839431B (en) * | 2020-07-24 | 2024-03-01 | 福建世新机器人科技有限公司 | Wireless capsule robot system and control method |
| CN112230207B (en) * | 2020-09-22 | 2024-01-09 | 辽宁工程技术大学 | Non-contact distance measurement and positioning instrument based on mutual inductance and use method thereof |
| CN112261399B (en) * | 2020-12-18 | 2021-03-16 | 安翰科技(武汉)股份有限公司 | Capsule endoscope image three-dimensional reconstruction method, electronic device and readable storage medium |
| CN114285184B (en) * | 2021-12-30 | 2024-05-03 | 河北工业大学 | Self-adaptive omnidirectional mobile phone wireless charging device and control system |
| CN114577100B (en) * | 2022-02-21 | 2023-11-21 | 成都思瑞定生命科技有限公司 | Magnetic field target positioning calculation method |
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| CN114469057A (en) * | 2022-04-01 | 2022-05-13 | 安翰科技(武汉)股份有限公司 | Wireless capsule positioning device, magnetic field sensor positioning method and device |
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Effective date of registration: 20220719 Address after: 610041 No. 9, unit 2, building 8, No. 22, Jinji South Road, Wuhou District, Chengdu, Sichuan Province Patentee after: Yu Chengjia Address before: 644007 No.8 Jiusheng Road, Cuiping District, Yibin City, Sichuan Province Patentee before: Yibin University |