Combined method of magnetic field and vision for locating gesture of medical micro type robot in vivo

Abstract

This invention belongs to the technical field of the medical engineering, disclosing a basic method for applying a direct current superposed magnetic field, an azimuth of which can be adjusted, to an Helmholtz coil device of triaxial orthogonal nesting and achieves an attitude orientation in the body by combination of embedding the medical micro-robot in which embedded radial magnetized NdFeB magnet is screwed-in in a screwing mode into a wireless visual transmission system in the body and a magnetic testing. The invention is characterized in that a small magnetic needle is observed to turn superposition with the axis of the medical micro-robot in the external field by embedding the medical micro-robot into a wireless visual system, transfers the detection problem of a complex attitude azimuth into a known variable in which the azimuth of external direct current magnetic field can be readout directly. The invention has the beneficial effects of avoiding that a plurality of sensors are needed in detection and a complex computational process in the traditional method, detecting the attitude azimuth of the medical micro-robot in the body quickly by a non-contact mode, providing a position parameter for the revolving magnetic field which produces the corresponding azimuth, and improving the operability of the medical micro-robot in the bend environment.

Description

technical field [0001] The invention belongs to the technical field of medical engineering, and relates to an operation of a rocker handle to drive an inclination sensor to respectively apply a DC superimposed magnetic field with the same azimuth angle of the rocker handle to a three-axis orthogonally nested Helmholtz coil device. The detection method combined with the transmission image of the robot's embedded magnetic detection system and the wireless vision transmission system realizes the basic method of positioning the attitude and azimuth angle of the embedded radial magnetized NdFeB magnet helical precession medical micro-robot in the body. Background technique [0002] The operating environment of medical micro-robots in the body is the intestinal tract, urinary system, blood vessels, etc. in the body. The tubular flexible and elastic wall environment tissue has complex internal shapes, twists and turns, and narrow space. The complex and unstructured fluid environment...

AI Technical Summary

Problems solved by technology

At present, there is no simple and easy attitude detection method. This technology has broad practical prospects. Once a breakthrough is made, the azimuth and attitude parameters of the robot in different bending environments in the intestinal tract can be continuously detected through the control of the joystick handle, which is the universal rotating magnetic field. The driving device provides the parameters of rotation attitude and azimuth angle, and drives the internal micro-screw-driven robot embedded with radially magnetized NdFeB magnets to realize the driving in the curved environment, which greatly shortens the time for traversal inspection in the body, and enables non-invasive peeping in the body based on the active control of the rotating magnetic field. The dream of diagnosis and interventional therapy becomes reality

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