CN203749415U - Wireless tracking device for digestive tract target objects - Google Patents
Wireless tracking device for digestive tract target objects Download PDFInfo
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- CN203749415U CN203749415U CN201420098259.XU CN201420098259U CN203749415U CN 203749415 U CN203749415 U CN 203749415U CN 201420098259 U CN201420098259 U CN 201420098259U CN 203749415 U CN203749415 U CN 203749415U
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Abstract
The utility model relates to a wireless tracking device for digestive tract target objects. The wireless tracking device comprises a magnetic field generator, a wireless data receiving and sending module, a data processing platform and a dip-angle type wireless magnetic sensing module, wherein the magnetic field generator is arranged outside of a body, and the dip-angle type wireless magnetic sensing module is arranged on a swallow type electronic capsule. The dip-angle type wireless magnetic sensing module is in wireless communication with the wireless data receiving and sending module, and the wireless data receiving and sending module is respectively in communication with the magnetic field generator and the data processing platform. By means of the wireless tracking device, the method that dip-angle type sensing and magnetic sensing are combined is adopted, multi-freedom-degree direction tracking can be achieved through a single magnet exciting coil only, the size and the power dissipation of the magnetic field generator in the wireless tracking device are reduced, the solving time of a tracing algorithm is shortened, the sampling data amount tracked in each turn is decreased, and the sampling time tracked in each turn is shortened, and the tracking accuracy is improved.
Description
Technical field
This utility model relates to medical apparatus and instruments, relates in particular to a kind of for following the tracks of the inclination angle type magnetic tracking system in the formula of the swallowing electronic capsule orientation in body.
Background technology
The formula electronic capsule of swallowing can be by the oral digestive tract that enters, the miniature video camera system of carrying by it is transferred to external by the image wireless in digestive tract, or the multiple sensors that carry by it detect and gather the multiple information in gastrointestinal tract, or by actuator, local organization are sampled to biopsy.But doctor cannot be known the formula electronic capsule of swallowing position in vivo, thus cannot indagation information is corresponding with concrete position, and also cannot drive exactly capsule motion according to the orientation of capsule.
At present, for the track and localization of swallowing formula electronic capsule, numerous scientific research personnel have obtained lot of research.The Lab-in-a-Pill capsule endoscope of Britain adopts magnetic marker positioning mode, and following range is in 18cm.The people such as Aziz place cylindrical permanent magnet in capsule, detect magnetic field follow the tracks of capsule by three external axle magnetoresistive transducers, and in the following range of 10cm × 10cm × 10cm, maximum tracking error reaches 3cm.The people such as Kim, by four hall effect sensors are installed in capsule, detect outside magnetic field intensity, to follow the tracks of capsule orientation.The following range of report is: the relative distance of capsule and Magnetic Field Source in x direction from 0 to 50mm, y direction from-50mm extremely+50mm, in z direction from 200mm to 300mm, maximum position error 15mm.The space that the following range of above static state or quasistatic magnetic field detection method and tracking accuracy are still improved.
Because low-frequency noise and the earth's magnetic field signal of electronic component are difficult to filtering in magnetostatic signal, and only determine orientation by magnetic field detection, cause in the inverse problem of magnetic field unknown quantity number many, solve complexity.Therefore adopt the method for alternating magnetic field sensing in conjunction with inclination angle sensing, follow the tracks of the orientation of electronic capsule in body, the advantage such as have that capacity of resisting disturbance is strong, following range is wide, orientation solves short, every sampled data output of taking turns tracking of time and the sampling time is short.
Utility model content
The purpose of this utility model, for a kind of novel inclination angle type magnetic tracking system is provided, swallows the orientation of formula electronic capsule in human body alimentary canal for following the tracks of exactly.
In order to achieve the above object, this utility model has adopted following technical scheme: a kind of radio tracking device of digestive tract object, comprise and be arranged on external magnetic field generator, wireless data transceiver module and data processing platform (DPP), and be arranged on the wireless magnetic sensing module of the inclination angle type of swallowing on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module is communicated by letter and is connected with magnetic field generator, data processing platform (DPP) respectively.
Described magnetic field generator is only made up of single magnet exciting coil, does not need timesharing excitation.
Described inclination angle type is wireless, and magnetic sensing module mainly comprises that inclination angle sensing submodule, magnetic sensing submodule and wireless data send submodule, and inclination angle sensing submodule is connected respectively wireless data with the output of magnetic sensing submodule and sends submodule, described inclination angle sensing submodule is made up of acceleration transducer, signal conditioning circuit, and the output of acceleration transducer connects signal conditioning circuit, and the output of signal conditioning circuit connects wireless data and sends submodule, described magnetic sensing submodule comprises signal control circuit, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output of sampling and A/D change-over circuit connects signal control circuit.
In the sensing submodule of inclination angle, the bearing signal of digestive tract object is converted to the signal of telecommunication by acceleration transducer, exports signal conditioning circuit to, and signal conditioning circuit exports wireless data to and sends submodule, sends data to external.
In magnetic sensing submodule, the field signal of digestive tract object locus of living in is converted to the signal of telecommunication by magnetic sensor, and export multiway analog switch to.The input of multiway analog switch is connected to signal control circuit simultaneously, by the break-make of signal control circuit control simulation switch, successively three axial output signals of magnetic sensor is sent to subsequent conditioning circuit.The input of amplification able to programme and filter circuit is connected to the output of multiway analog switch, and, being connected to signal control circuit simultaneously, the control signal being sent by signal control circuit regulates the gain multiple of amplification able to programme and filter circuit.The output of amplification able to programme and filter circuit is connected to peak detection circuit.The output of peak detection circuit is connected to sampling and A/D change-over circuit.Sampling and A/D change-over circuit are connected with signal control circuit is two-way simultaneously, the analog quantity of peak detection circuit output is converted to digital quantity by sampling and A/D change-over circuit on the one hand, be delivered to signal control circuit, then be sent to wireless data transmission submodule by signal control circuit; On the other hand, sampling and A/D change-over circuit receive the controlled quentity controlled variable of signal control circuit output, realize sampling and A/D translation function.
In magnetic sensing module, the gain-adjusted of amplification able to programme and filter circuit has formed a closed loop feedback regulative mode.When initial, initial gain control value of signal control circuit output is to amplification able to programme and filter circuit, now, amplification able to programme and filter circuit produce corresponding yield value according to initial controlling value, output signal to magnetic sensor is initially amplified, and after peak value detection, sampling and A/D conversion, be sent to signal control circuit.Signal control circuit compares higher limit, the lower limit in the value of reading in and program, set.If the value of reading in is between the higher limit of setting and lower limit, the value of reading in is sent to wireless data transmission submodule by signal control circuit; If the value of reading in is greater than the higher limit of setting, signal control circuit is exported a less gain control value again to amplification able to programme and filter circuit, waits the new value after A/D conversion to be read; If the value of reading in is less than the lower limit of setting, signal control circuit is exported a larger gain control value again to amplification able to programme and filter circuit, waits the new value after A/D conversion to be read.
Described wireless data transceiver module provides portable data storage and two kinds of modes of data processing platform (DPP) Real-Time Monitoring; In the time that the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data that receive are stored in the multimedia storage card in wireless data transceiver module, after examine finishes, in the disposable reading data processing platform of card reader; In the time that wireless data transceiver module is communicated with the data wire of data processing platform (DPP), the data that receive to data processing platform (DPP), are carried out subsequent treatment by cable real-time Transmission.
Inclination angle type magnetic tracking system of the present utility model has following advantage and disadvantage:
1, magnetic field generator is only made up of single magnet exciting coil, and magnetic field generator does not need the excitatory sequential control circuit of timesharing.Reduce thus volume and the power consumption of magnetic field generator, reduced every sampled data output and sampling time of taking turns tracking, shortened the reception & disposal time of signal, improved the real-time of following the tracks of.
2, the mode that adopts inclination angle sensing to combine with magnetic field sensing is followed the tracks of electronic capsule.The introducing of inclination angle sensing mode, has reduced the unknown quantity number that magnetic field inverse problem solves, and has shortened the time of solving, and has improved positioning precision.
Brief description of the drawings
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is rotation of coordinate schematic diagram.
Fig. 3 is the structured flowchart of the wireless magnetic sensing module of inclination angle type.
Detailed description of the invention
Referring to Fig. 1, the radio tracking device of this utility model digestive tract object, comprises and is arranged on external magnetic field generator 1, wireless data transceiver module 2 and data processing platform (DPP) 3, and is arranged on the wireless magnetic sensing module 4 of the inclination angle type of swallowing on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module is communicated by letter and is connected with magnetic field generator, data processing platform (DPP) respectively.
Referring to Fig. 3, the wireless magnetic sensing module 4 of inclination angle type in this utility model mainly comprises that inclination angle sensing submodule 41, magnetic sensing submodule 42 and wireless data send submodule 43, and inclination angle sensing submodule is connected respectively wireless data with the output of magnetic sensing submodule and sends submodule.Wherein, inclination angle sensing submodule 41 is made up of acceleration transducer 411 and signal conditioning circuit 412, and the output of acceleration transducer connects signal conditioning circuit, and the output of signal conditioning circuit connects wireless data and sends submodule.Magnetic sensing submodule 42 comprises signal control circuit 421, magnetic sensor 422, multiway analog switch 423, amplification able to programme and filter circuit 424, peak detection circuit 425 and sampling and A/D change-over circuit 426, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output of sampling and A/D change-over circuit connects signal control circuit.
When every tracking sampling of taking turns is while starting, inclination angle type is wireless magnetic sensing module and wireless data transceiver module are all in accepting state, and constantly whether inquiry receives operational order.After wireless data transceiver module power-up initializing, " handshake request " signal of wireless transmission is to the wireless magnetic sensing module of inclination angle type, in receiving waiting state immediately; If " shaking hands successfully " signal is not still received in every wait after 2 seconds, again send " handshake request " signal.Inclination angle type is wireless, and magnetic sensing module receives after " handshake request " signal, sends " shaking hands a successfully " signal, returns to wireless data transceiver module.Wireless data transceiver module receives after " shaking hands successfully " signal, outputs control signals to magnetic field generator, it is started excitatory.Magnetic field generator produces the sinusoidal current of certain current intensity, passes into the resonant tank of single magnet exciting coil, makes it produce the alternating magnetic field of certain frequency in space.Now, inclination angle type is wireless, and magnetic sensing module is field signal and the acceleration signal at detected electrons capsule place, the peak value of the residing orientation of electronic capsule and field signal, the component of acceleration signal have definite functional relation, therefore, by AC magnetic field signal peak and the acceleration signal components in detected electrons capsule orientation of living in, convert them to the signal of telecommunication, and be wirelessly transmitted to external wireless data transceiver module.
If three of 3-axis acceleration sensor are axially exported and are respectively A
x ', A
y ', A
z ', three axles are orthogonal between two.On magnetic sensor, set up moving coordinate system o '-x ' y ' z ', wherein taking the geometric center point of Magnetic Sensor as zero o ', three axially output be respectively o ' x ', o ' y ', o ' z '.When installation, make the A of acceleration transducer
x 'direction is parallel to magnetic sensor o ' x ', the A of acceleration transducer
y 'direction is parallel to o ' y ', the A of acceleration transducer
z 'parallel o ' the z ' of direction.If external reference coordinate is o-xyz, according to Eulerian angles rotation of coordinate, as shown in Figure 2, moving coordinate system o '-x ' y ' z ' is around z ' axle anglec of rotation γ
1, now o ' x ' overlaps with N axle; Again around N axle anglec of rotation γ
2, now z ' axle overlaps with z axle; Finally around z axle anglec of rotation γ
3, after three rotations, o '-x ' y ' z ' overlaps with o-xyz.
The static acceleration output axial according to three of acceleration transducers, can obtain three anglec of rotation γ of magnetic sensor and frame of reference o-xyz in magnetic sensing submodule
1, γ
2, γ
3, magnetic sensor process is with anglec of rotation γ
1, γ
2, γ
3after rotation of coordinate for parameter, its three output shafts are all parallel to three coordinate axess of frame of reference o-xyz.Therefore by rotation of coordinate angle γ
1, γ
2, γ
3after acquisition, in the magnetic field model in substitution space magnetic field vector and electronic capsule orientation, calculate after abbreviation, in the Nonlinear System of Equations of magnetic field, only comprise the locus coordinate of electronic capsule, thereby reduce the unknown quantity number that magnetic field inverse problem solves, shortened the time of solving, improved positioning precision.The large I of space magnetic field vector is measured and is obtained by magnetic sensing submodule.
The field signal receiving and dip angle signal are transferred to data processing platform (DPP) by wireless data transceiver module, carries out orientation and solve.The working method of wireless data transceiver module is divided into: portable data storage and host computer Real-Time Monitoring.In the time that the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data that receive are stored in the multimedia storage card in device, after examine finishes, in the disposable reading data processing platform of card reader; In the time that wireless data transceiver module is communicated with the data wire of data processing platform (DPP), the data that receive to data processing platform (DPP), are carried out subsequent treatment by cable real-time Transmission.
The software algorithm of data processing platform (DPP), has adopted improvement type artificial bee colony algorithm to solve the Nonlinear System of Equations of azimuth information.The collective intelligence behavior of simulation bee colony, first Nonlinear System of Equations is converted to function optimizing problem, by the position correspondence in nectar source a feasible solution of majorized function, the process that bee colony finds optimum nectar source is exactly the process of search function optimal solution, the position in optimum nectar source is the optimal solution of function, i.e. the locus of electronic capsule.The artificial bee colony algorithm of standard has good ability of searching optimum, but local search ability is poor, in order to improve the precision of algorithm, avoid occurring that Premature Convergence is absorbed in the generation of local extremum and stagnation behavior, the step-size in search of artificial bee colony algorithm is carried out to self adaptation adjustment, improved the speed of solving and solving precision.
By above-mentioned design, the radio tracking device of digestive tract object can show the dimensional orientation of electronic capsule in real time, or azimuth information is stored in multimedia card, after examine finishes, reads by card reader is disposable, carries out analysis and the post processing of data.
Claims (3)
1. a radio tracking device for digestive tract object, is characterized in that: comprise and be arranged on external magnetic field generator, wireless data transceiver module and data processing platform (DPP), and be arranged on the wireless magnetic sensing module of the inclination angle type of swallowing on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module is communicated by letter and is connected with magnetic field generator, data processing platform (DPP) respectively.
2. the radio tracking device of digestive tract object as claimed in claim 1, is characterized in that: described magnetic field generator is only made up of single magnet exciting coil, does not need timesharing excitation.
3. the radio tracking device of digestive tract object as claimed in claim 1, it is characterized in that: described inclination angle type is wireless, and magnetic sensing module mainly comprises that inclination angle sensing submodule, magnetic sensing submodule and wireless data send submodule, inclination angle sensing submodule is connected respectively wireless data with the output of magnetic sensing submodule and sends submodule, described inclination angle sensing submodule is made up of acceleration transducer, signal conditioning circuit, and the output of acceleration transducer connects signal conditioning circuit, and the output of signal conditioning circuit connects wireless data and sends submodule, described magnetic sensing submodule comprises signal control circuit, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output of sampling and A/D change-over circuit connects signal control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420098259.XU CN203749415U (en) | 2014-03-05 | 2014-03-05 | Wireless tracking device for digestive tract target objects |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420098259.XU CN203749415U (en) | 2014-03-05 | 2014-03-05 | Wireless tracking device for digestive tract target objects |
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| CN203749415U true CN203749415U (en) | 2014-08-06 |
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| CN201420098259.XU Expired - Fee Related CN203749415U (en) | 2014-03-05 | 2014-03-05 | Wireless tracking device for digestive tract target objects |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104706307A (en) * | 2015-03-23 | 2015-06-17 | 朱玉森 | Non-involvement type examining and inspecting system for digestive tract |
| CN104887230A (en) * | 2014-03-05 | 2015-09-09 | 上海理工大学 | Inclined magnetic tracking system for swallowing type electronic capsule |
| CN108553072A (en) * | 2018-02-09 | 2018-09-21 | 上海理工大学 | A kind of digital positioning system and method for digestive tract electronic capsule |
| CN109875560A (en) * | 2019-03-27 | 2019-06-14 | 上海理工大学 | One kind can swallow formula alimentary canal gas detecting system |
-
2014
- 2014-03-05 CN CN201420098259.XU patent/CN203749415U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887230A (en) * | 2014-03-05 | 2015-09-09 | 上海理工大学 | Inclined magnetic tracking system for swallowing type electronic capsule |
| CN104887230B (en) * | 2014-03-05 | 2017-08-25 | 上海理工大学 | Swallow the inclination angle type electromagnetic tracking system of formula electronic capsule |
| CN104706307A (en) * | 2015-03-23 | 2015-06-17 | 朱玉森 | Non-involvement type examining and inspecting system for digestive tract |
| CN108553072A (en) * | 2018-02-09 | 2018-09-21 | 上海理工大学 | A kind of digital positioning system and method for digestive tract electronic capsule |
| CN108553072B (en) * | 2018-02-09 | 2024-05-31 | 上海理工大学 | Digital positioning system and method for digestive tract electronic capsule |
| 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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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140806 Termination date: 20160305 |