Endoscope tracking and positioning and digital human dynamic synchronous display device based on multi-sensor

Abstract

The invention designs an endoscope tracking and positioning and digital human dynamic synchronous display device based on a multi-sensor, which consists of an endoscope front end attitude acquisition module, a communication and control center, a magnet exciting coil module and a PC (personal computer) processing center. A micro multi-sensor system is arranged in a front end probe of an endoscope and comprises an MEMS (micro electro mechanical system) triaxial accelerometer, a three-axis gyroscope and a three-axis magnetic field sensor; sensor information changes can be detected in real time when a probe carrier of the endoscope rotates and moves; according to different endoscopic structures, periodicity of the sensor information is imported into the communication and control center in a wireless or wire communication way; the control center drives an external field coil periodically according to the algorithm requirements of tracking and positioning, processes the sensor information preliminarily at the same time and then imports the sensor information into a PC machine; and after positioning is performed in the PC machine, dynamic synchronous display on the endoscope is realized by using a digital human model.

Description

technical field [0001] The invention belongs to the field of multi-sensor tracking and positioning, and is especially suitable for azimuth detection of small areas such as endoscope probes. Background technique [0002] In medical treatment, doctors generally use the images collected by the endoscope to judge the location of the lesion based on experience, which has a large error. In some special occasions, doctors need to combine the lesion location information obtained by the endoscope and cooperate with measures such as surgery for comprehensive treatment, so the azimuth accuracy of the lesion location is required to be high. In Japan and some developed countries in the United States, the application of capsule endoscopy is becoming more and more popular, and its positioning and control are also current research hotspots. [0003] At present, the endoscopic positioning technology used at home and abroad mostly adopts the measurement method centered on the magnetic field ...

AI Technical Summary

Problems solved by technology

In terms of absolute position positioning of endoscopes, compared with other positioning technologies, for example, using mechanical characteristics for positioning, the accuracy is low and the structure is complex, while the full-space modeling of the magnetic field source is too complicated and difficult to implement

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