CN108553072A - A kind of digital positioning system and method for digestive tract electronic capsule - Google Patents
A kind of digital positioning system and method for digestive tract electronic capsule Download PDFInfo
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- 239000002775 capsule Substances 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 32
- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 238000007405 data analysis Methods 0.000 claims abstract description 7
- 238000000605 extraction Methods 0.000 claims abstract description 6
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- 238000007781 pre-processing Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 239000002245 particle Substances 0.000 description 16
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- 238000013500 data storage Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
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- 238000001574 biopsy Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 230000002964 excitative effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
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- 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
- 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
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B1/045—Control thereof
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Abstract
Include dividing magnetizer, the alternating magnetic field for generating different frequency set on external more magnetic sources the present invention relates to a kind of digital positioning system of digestive tract electronic capsule；Digital magnetic field detection device, is fixed on electronic capsule, and characteristics extraction is carried out after the magnetic field intensity for detecting electronic capsule present position；It set on external data wireless reception and processing platform, divides magnetizer with more magnetic sources and digital detector for magnetic field is wirelessly connected, the characteristic value for receiving the transmission of digital magnetic field detection device, carry out data analysis and orientation solves；The invention also discloses a kind of digital localization methods, digital positioning system of this method based on digestive tract electronic capsule, using the analog signal front end preconditioning technique and Digital Signal Processing for being suitable for more magnetic source trackings, the digital positioning of electronic capsule is realized.Compared with prior art, the present invention has many advantages, such as that strong antijamming capability, low in energy consumption, real-time, processing speed is fast.
Description
Technical field
The present invention relates to medical instruments fields, a kind of digital positioning system more particularly, to digestive tract electronic capsule and
Method.
Background technology
With the development of the technologies such as microelectric technique, micro electro mechanical system (MEMS) technology, robot technology, wireless communication, alimentary canal
Electronic pastes cryptomere diagnosing and treating apparatus (hereinafter referred to as electronic capsule) has become the research hotspot and developing direction of modern medical equipment.It is micro-
Type enables electronic capsule to enter human body alimentary canal, alimentary canal multi-physiological-parameter information can be monitored, absorb image in alimentary canal,
Identification pathological tissues and active dispenser treatment are sampled biopsy.
In medical applications, doctor can not know the position of electronic capsule in vivo, thus can not be by indagation information and tool
Body region corresponds to, and also accurately capsule can not be driven to move according to the orientation of capsule.Therefore, to electronic capsule track and localization
One of the key technology solved as urgent need.Positioning for target in alimentary canal, the method clinically generally used have：X
Ray image method, nuclear medicine image method, real time echography.These methods have certain radiation injury, cannot continuous a few hours
It is monitored, and needs the equipment of Large expensive so that inspection can only carry out in certain place, affect the normal of patient
Work and life.Also there is pertinent literature to report permanent magnetism locating and tracking method at present to set using Miniature permanent magnet body as telltale mark source
In electronic capsule, around measured's belly, a certain number of Hall sensors are arranged, produced in space for detecting permanent magnet
Raw magnetic field intensity, thus reverse go out the dimensional orientation of target.Since the volume of magnetic marker is spatially by electronic capsule
Limitation, cause magnetic field signal intensity limited, when magnetic marker away from sensor distance farther out when, magnetic field sensor cannot be differentiated micro-
Weak signal causes positioning to be failed.The measurement accuracy and detection range for the magnetic labeling location method reported at present also have with practicability
Larger gap.
The low-frequency noise and earth magnetism field signal of electronic component are difficult to filter out in magnetostatic signal, in the reverse temperature intensity of magnetic field not
The amount of knowing number is more, solution takes, is easily trapped into Local Extremum, and the restriction of electronic capsule size and power consumption, is magnetic tracking system
The difficult point of vivo devices of uniting design；In addition, in existing exchange magnetic positioning method research, external magnetic excitation device is adopted mostly
Signal distinguishing is carried out with the mode of timesharing, the real-time of which need to be improved.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of digestive tract electronic glue
The digital positioning system and method for capsule.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of digital positioning system of digestive tract electronic capsule, including：
More magnetic sources divide magnetizer, are set to external, the alternating magnetic field for generating different frequency；More magnetic sources point
Frequency magnetizer includes frequency dividing exciting circuit and multiple magnetizing coils, and frequency dividing exciting circuit is equipped with multi-channel output, multiple-channel output
End is connect with the input terminal of multiple magnetizing coils respectively；
Digital magnetic field detection device, is fixed on electronic capsule, and the magnetic field for detecting electronic capsule present position is strong
Characteristics extraction is carried out after degree, the digital magnetic field detection device includes sequentially connected secondary induction coil, simulation letter
Number front end preprocessing module, digital signal processing module and radio-frequency communication module；
Data wireless reception and processing platform, are set in vitro, and magnetizer and digital magnetic field detection are divided with more magnetic sources
Device is wirelessly connected, and after the characteristic value for receiving the transmission of digital magnetic field detection device, carries out data analysis and orientation solves,
The data wireless reception and the data wireless transceiver circuit that processing platform includes for transceiving data.
Preferably, the analog signal front end preprocessing module include sequentially connected preposition impedance matching circuit, can
Amplifying circuit, level lifting circuit and ADC driving circuits are programmed, the input terminal of the front end impedance matching circuit is felt with secondary
The output end of coil is answered to connect, input terminal and the level lifting circuit and ADC driving circuits of the digital signal processing module
Output end connection.
Preferably, the digital signal processing module is microprocessor.
Preferably, the radio-frequency communication module is radio communication chip.
Preferably, the core algorithm that the digital signal processing module uses includes digital filtering algorithm, peak detection
Algorithm and magnetizing coil intelligent recognition algorithm.
Preferably, the digital magnetic field detection device realizes carrying out shake communication using intelligent dormant technology.
Preferably, the data wireless reception uses the BP neural network of population and LM algorithm improvements with processing platform
Algorithm.
A kind of digital localization method of electronic capsule, digital positioning system of this method based on digestive tract electronic capsule,
Include the following steps：
1) enter the alimentary canal of human body, digital magnetic field after digital magnetic field detection device is fixed together with electronic capsule
Detection device after being waken up in suspend mode, sends handshake request signal to data wireless reception and processing by house dog timing chip
Platform；
2) data wireless reception and processing platform transmit and receive signal to digital magnetic field detection device, meanwhile, data without
Line is received sends a control signal to more magnetic source frequency dividing magnetizers with processing platform, controls it and starts and generate alternating magnetic field；
3) digital magnetic field detection device detects electronics according to secondary induction coil and analog signal front end preprocessing module
The magnetic field intensity of capsule present position, and characteristic value is carried out to the magnetic field intensity detected using digital signal processing module and is carried
It takes；
4) characteristic value after extracting is wirelessly transmitted to external data wireless reception by radio-frequency communication module and is put down with processing
Platform is solved with carrying out data analysis and orientation, and then obtains position of the electronic capsule in human body；
5) microprocessor of digital magnetic field detection device controls power management module shutdown respectively according to intelligent dormant technology
The power supply of a module, makes microprocessor enter suspend mode, until being waken up again by house dog timing chip, carries out detection behaviour next time
Make.
Compared with prior art, the present invention has the following advantages：
One, real-time is high：The present invention carries out the tracking in internal electronic capsule orientation using alternating magnetic field, and more magnetic source frequency dividings swash
Magnetic device is made of multiple magnetizing coils and frequency dividing exciting circuit, and multiple magnetizing coils are worked at the same time in different magnet excitation frequencies, are adopted
Signal is distinguished with the mode of frequency dividing, compared to time-sharing format, real-time higher of the invention；
Two, strong antijamming capability, low in energy consumption：The present invention digital magnetic field detection device introduce be suitable for more magnetic sources with
The analog signal front end preconditioning technique and Digital Signal Processing of track method, have simplified hardware circuit, to reduce dress
The volume and power consumption set, improve data anti-interference and stability, meet the limitation requirement of electronic capsule size and power consumption；Together
When, digital magnetic field detection device can realize carrying out shake communication function using intelligent dormant technology, further reduced power consumption；
Three, accuracy is high：The digital magnetic field detection device of the present invention uses fast frequency recognizer, can accurate intelligence
Different magnetizing coil outside energy ground identifier, you can different frequency signals is handled, is avoided since magnetic field detection is believed
Number with magnetizing coil matching error caused by location data mistake, improve the accuracy and reliability of positioning；
Four, speed is fast：The data wireless reception of the present invention uses the BP of population and LM algorithm improvements with processing platform
Neural network algorithm approaches magnetic tracking nonlinear problem, improves solving speed and solving precision.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the digital positioning system of digestive tract electronic capsule；
Fig. 2 is a kind of structural representation of digital magnetic field detection device in digital positioning system of digestive tract electronic capsule
Figure；
Fig. 3 is level lifting and ADC in a kind of digital positioning system of digestive tract electronic capsule of the embodiment of the present invention
The structure chart of driving circuit.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, the present invention relates to a kind of digital positioning system of digestive tract electronic capsule, which includes more magnetic
Source divides magnetizer, digital magnetic field detection device and data wireless reception and processing platform；More magnetic sources divide magnetizer
It is set to data wireless reception and processing platform external；Digital magnetic field detection device is fixed on electronic capsule, with electricity
Sub- capsule moves in vivo；Data wireless reception is filled with processing platform and more magnetic sources frequency dividing magnetizer, digital magnetic field detection
It sets and is wirelessly connected respectively.
Digital magnetic field detection device is mainly pre- including house dog timing chip, secondary induction coil, AFE(analog front end) signal
Processing module, digital signal processing module, radio-frequency communication module and power management module.Power module is believed with AFE(analog front end) respectively
Number preprocessing module, digital signal processing module, radio-frequency communication module are connected, and power supply is provided for each circuit module.Analog signal
Front end preprocessing module includes mainly front end impedance matching circuit, pga circuit, level lifting and ADC driving circuits.
Wherein, the output end of secondary induction coil is connected with the input terminal of front end impedance matching circuit, and front end impedance matching circuit can be compiled
Journey amplifying circuit, level lifting are connected with ADC driving circuit sequences, as shown in Figure 2.Level is lifted defeated with ADC driving circuits
Outlet is connected with the input terminal of digital signal processing module.The digital signal processing module used is microprocessor；Radio communication
Module is radio communication chip；Power management module includes battery, boost chip, voltage stabilizing chip and microcontroller, microcontroller
It is separately connected with boost chip and voltage stabilizing chip.The level lifting that the present embodiment uses is as shown in Figure 3 with ADC driving circuits；This
The front end impedance matching circuit that embodiment uses is the pre-amplification circuit with low input impedance high output impedance；What is used can
Programming amplifying circuit is LTC6910 programmable gain amplifiers, which passes through 3 bit digital input control, 8 kinds of different voltages
Gain.
After digital signal processing module samples analog signal by high-speed AD, using digital signal processing algorithm to its into
Row processing, and the yield value of automatic adjusument pga circuit, it is ensured that optimum range can be amplified to by sampled signal；And
The characteristic value of extraction is sent to radio-frequency communication module by communication interface.The core algorithm packet that digital signal processing module uses
It includes：Digital filtering algorithm, peak detection algorithm and magnetizing coil intelligent recognition algorithm.By digital signal processing algorithm, will connect
The characteristics extraction of the collection of letters number comes out, and more magnetic sources divide the excitatory frequencies of difference of each magnetizing coil in magnetizers outside combination
Rate can will receive signal and accurately intelligently be matched from external different magnetic source progress, and avoid due to magnetic field detection signal and swash
Location data mistake caused by magnetic coil matching error.Digital magnetic field detection device has simplified hardware circuit, to reduce
The volume and power consumption of device, improve data anti-interference and stability.Radio-frequency communication module by useful data Wireless transceiver extremely
Data wireless reception and processing platform.
Digital magnetic field detection device can realize carrying out shake communication function using intelligent dormant technology, further reduced work(
Consumption.I.e. when every wheel, which positions, to be started, house dog timing chip wakes up microprocessor from suspend mode, power supply control microprocessor pipe
It manages module to power to each module recovery, then one " handshake request " signal is sent using wireless communication mode by radio-frequency communication module
To data wireless reception and processing platform, then radio-frequency communication module, which is in, receives wait state；If after often waiting for 500 milliseconds still
" success of shaking hands " signal is not received, then " handshake request " signal is sent again, until being successfully received " success of shaking hands " signal.
After data wireless reception and processing platform receive " handshake request " signal, that is, " success of a shaking hands " signal is sent, returned
Give digital magnetic field detection device；Meanwhile more magnetic source frequency dividing magnetizers are output control signals to after 20 milliseconds of delay, make multiple
Magnetizing coil generates the sine alternating magnetic field signal of different frequency.The radio-frequency communication module of digital magnetic field detection device receives
After " success of shaking hands " signal, microprocessor starts high-speed AD sampling and digital signal processing algorithm, extracts signal characteristic value, then lead to
Radio-frequency communication module Wireless transceiver is crossed to data wireless reception and processing platform.Then, power supply control microprocessor management module
The power supply of modules is turned off, microprocessor enters suspend mode, until being waken up again by house dog timing chip.
Data wireless reception and processing platform include data reception module and data processing module, and data reception module includes
For the data wireless transceiver circuit of transceiving data information, data processing module includes host computer, and host computer, which is set, data show
Interface and memory；Data wireless transceiver circuit is connected with host computer by interface circuit.Data wireless reception and processing platform
Working method include data storage method and real-time positioning method.When working in data storage method, the data that receive
It is stored in data processing module, after to be checked, all data in entire checking process is read in by data processing module,
Carry out data analysis and process；When working in real-time positioning method, the data received are flat with processing by data wireless reception
Platform is handled immediately, carries out orientation solution and real-time display.
The software algorithm of data wireless reception and processing platform uses the BP neural network of population and LM algorithm improvements
Algorithm carries out optimizing to the nonlinear problem of azimuth information.Neural network algorithm and particle cluster algorithm are the different calculations of two kinds of mechanism
Method, they are all a kind of intelligent methods emulated to organism behavior.In location algorithm, optimized using particle cluster algorithm
The weights and threshold value of neural network.It applies particle cluster algorithm to find out the initial weight and threshold value of neural network first, then uses
Learnt based on the improved BP neural networks of LM, not only improve the convergence rate of network, and enhances the generalization ability of network.
The topological structure, weights, threshold value that can determine neural network by learning training, obtain network mapping function；It is complete in network training
Finish, optimum results can be quickly obtained, improve the solving speed and solving precision of bearing data.
The step of population and the BP neural network algorithm of LM algorithm improvements, is as follows：
1) it according to magnetic orientation optimization problem, determines the structure of BP neural network and initializes relevant parameter, and determine particle
Dimension；
2) particle group parameters are initialized, number of particles N, inertial factor w, Studying factors c1 and c2, greatest iteration time are set
Number itmax, limit speed Vmin, Vmax, randomly generate speed and the position of particle, and by the connection weight and threshold of neural network
Value is encoded to particle；
3) object functions of the mean square error e1 as neural network is chosen, is the fitness function of particle, then calculates
The fitness value of each particle；
4) more new individual pbest, to each particle, compare particle current location fitness value passed through with it is optimal
The fitness value of position pbest, if position at this time is more preferable, it is particle current location to set pbest, otherwise constant；
5) overall situation gbest is updated, compares the fitness value of the fitness value and population gbest of particle, if be better than
Gbest, then population optimal location gbest information updates are the position of current particle, are not otherwise updated；
6) position and speed of more new particle；
7) end condition is judged, when the maximum population iterations itmax or error e 2 that reach setting reach requirement
Precision when, then stop iteration, preserve optimal weights and threshold value, otherwise, go to step 3)；
8) data for preserving step 7) start network instruction as the initial weight and threshold value of the improved BP neural networks of LM
Practice.
The present invention also provides a kind of digital localization method of electronic capsule, number of this method based on digestive tract electronic capsule
Word formula positioning system, includes the following steps：
Step 1: digital magnetic field detection device by house dog timing chip from suspend mode wake up after, send handshake request
Signal is to data wireless reception and processing platform；
Step 2: after data wireless reception receives handshake request signal with processing platform, signal is transmitted and received to number
Formula detector for magnetic field；Meanwhile digital magnetic field detection device outputs control signals to more magnetic source frequency dividing magnetizers, it is made to open
Beginning work, and multiple magnetizing coils are encouraged, so that magnetizing coil is generated the sine alternating magnetic field signal of different frequency；
Step 3: digital magnetic field detection device is converted to alternating magnetic field signal together by a secondary induction coil
The electric signal output of frequency, by signal processing technology extract characteristic value, and by data be wirelessly transmitted to data wireless reception with
Processing platform；
Step 4: data wireless reception carries out subsequent data analysis to the characteristic value of acquisition with processing platform and orientation is asked
Solution, further obtains dimensional orientation of the electronic capsule in human body, and data wireless reception can be by the electronics of acquisition with processing platform
The dimensional orientation of capsule is stored by the data display interface real-time display of host computer, or by azimuth information into memory,
After to be checked, the data that entire checking process obtains disposably are read, carry out the analysis and post-processing of data；
It is closed Step 5: the microprocessor of digital magnetic field detection device controls power management module according to intelligent dormant technology
The power supply of disconnected modules, makes microprocessor enter suspend mode, until being waken up again by house dog timing chip, is examined next time
Survey operation.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The staff for being familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (10)
1. a kind of digital positioning system of digestive tract electronic capsule, which is characterized in that including：
More magnetic sources divide magnetizer：Set on external, the alternating magnetic field for generating different frequency, more magnetic sources frequency dividing swashs
Magnetic device includes frequency dividing exciting circuit and multiple magnetizing coils, and frequency dividing exciting circuit is equipped with multi-channel output, multi-channel output point
It is not connect with the input terminal of multiple magnetizing coils；
Digital magnetic field detection device：It is fixed on electronic capsule, after the magnetic field intensity for detecting electronic capsule present position
Characteristics extraction is carried out, before the digital magnetic field detection device includes sequentially connected secondary induction coil, analog signal
Hold preprocessing module, digital signal processing module and radio-frequency communication module；
Data wireless reception and processing platform：Set on external, magnetizer and digital detector for magnetic field are divided with more magnetic sources
It is wirelessly connected, after the characteristic value for receiving the transmission of digital magnetic field detection device, carries out data analysis and orientation solves, it is described
Data wireless reception and processing platform include data wireless transceiver circuit for receiving and transmitting signal.
2. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Analog signal front end preprocessing module includes sequentially connected preposition impedance matching circuit, pga circuit, level lifting
Circuit and ADC driving circuits, the input terminal of the front end impedance matching circuit and the output end of secondary induction coil connect, institute
The input terminal for the digital signal processing module stated is connect with level lifting circuit with the output end of ADC driving circuits.
3. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Digital signal processing module is microprocessor.
4. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Radio-frequency communication module is radio communication chip.
5. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Digital magnetic field detection device further includes for the house dog timing chip of timing and for the power management module of power supply.
6. a kind of digital positioning system of digestive tract electronic capsule according to claim 5, which is characterized in that described
Power management module includes battery, boost chip, voltage stabilizing chip and microcontroller, and the microcontroller is with boost chip and surely
Pressure chip is separately connected.
7. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
The core algorithm that digital signal processing module uses includes digital filtering algorithm, peak detection algorithm and magnetizing coil intelligent recognition
Algorithm.
8. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Digital magnetic field detection device realizes carrying out shake communication using intelligent dormant technology.
9. a kind of digital positioning system of digestive tract electronic capsule according to claim 1, which is characterized in that described
Data wireless reception uses the BP neural network algorithm of population and LM algorithm improvements with processing platform.
10. a kind of using a kind of electricity of the digital positioning system of digestive tract electronic capsule of claim 1-9 any one of them
The sub- digital localization method of capsule, which is characterized in that include the following steps：
1) enter the alimentary canal of human body, digital magnetic field detection after digital magnetic field detection device is fixed together with electronic capsule
After being waken up in suspend mode, it is flat with processing to data wireless reception to send handshake request signal by house dog timing chip for device
Platform；
2) data wireless reception transmits and receives signal to digital magnetic field detection device with processing platform, meanwhile, data wirelessly connect
It receives and sends a control signal to more magnetic source frequency dividing magnetizers with processing platform, control it and start and generate alternating magnetic field；
3) digital magnetic field detection device detects electronic capsule according to secondary induction coil and analog signal front end preprocessing module
The magnetic field intensity of present position, and characteristics extraction is carried out to the magnetic field intensity detected using digital signal processing module；
4) characteristic value after extracting is wirelessly transmitted to external data wireless reception and processing platform by radio-frequency communication module, with
It carries out data analysis and orientation solves；
5) microprocessor of digital magnetic field detection device controls power management module according to intelligent dormant technology and turns off each mould
The power supply of block, makes microprocessor enter suspend mode, until being waken up again by house dog timing chip, carries out detection operation next time.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109875560A (en) * | 2019-03-27 | 2019-06-14 | 上海理工大学 | One kind can swallow formula alimentary canal gas detecting system |
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