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A method for measuring the depth and three-dimensional size of lesion tissue under capsule endoscope

A technology of capsule endoscopy and measurement methods, which can be used in diagnostic recording/measurement, medical science, sensors, etc., and can solve problems such as the accuracy and speed need to be improved, the time used should not be long, and the process is complicated.

Inactive Publication Date: 2016-04-20
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The advantage of this positioning technology is that it utilizes the existing radio frequency signal and antenna in the wireless capsule endoscope, without adding any components in the wireless capsule endoscope; however, the positioning accuracy of this positioning technology is very low, and the average positioning accuracy is 37.7mm, unacceptable for clinical application
Medical imaging technologies such as X-ray imaging, CT and MRI (Magnetic Resonance Imaging, Magnetic Resonance Imaging), etc. can also use 3D reconstruction technology to locate, but the process is complicated and the calculation time is long; and the position or direction, accuracy and accuracy are obtained by indirect reconstruction calculation technology. The speed is limited; in addition, there are problems of radiation damage and unsuitable long time
3D ultrasonic image technology can also be used for positioning, which uses a tracking device to track the 6-dimensional pose of the ultrasonic probe, and then performs three-dimensional reconstruction of the ultrasonic image obtained by scanning the human body according to the 6-dimensional pose, and further discovers the capsule in the image. endoscope, and determine the pose of the capsule endoscope, but the 3D ultrasound image technology is still immature, and the accuracy and speed need to be improved
The existing axially magnetized circular magnet technology can locate the three-dimensional position and alignment direction (two-dimensional) of the capsule endoscope. This technology has the advantages of fast positioning speed and high accuracy, but it lacks a one-dimensional axis around the magnet. The direction change information of the line rotation will be affected by human motion, so the depth and three-dimensional size of the lesion tissue cannot be accurately measured

Method used

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  • A method for measuring the depth and three-dimensional size of lesion tissue under capsule endoscope
  • A method for measuring the depth and three-dimensional size of lesion tissue under capsule endoscope
  • A method for measuring the depth and three-dimensional size of lesion tissue under capsule endoscope

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Embodiment 1

[0100] In this embodiment, a method for measuring the depth of a capsule endoscope lesion tissue is proposed. The flow chart of the measuring method is as follows: figure 1 shown, including the following steps:

[0101] ①Accurate position parameters of capsule endoscope are obtained by placing magnets and magnetoresistive sensors. The specific process is as follows:

[0102] ①-1, such as image 3 , a space coordinate system is established outside the human body as a reference coordinate system, and a capsule endoscope with a ring-shaped thin magnetic sleeve set on the outer peripheral sleeve is placed inside the human body. The capsule endoscope structure is as follows figure 2 As shown, before obtaining the position parameters of the capsule endoscope, M-1 magnets are placed on the surface of the human body, and together with the annular thin magnetic sleeve of the capsule endoscope, M magnets are formed, which are determined by the arranged M magnets The three-dimensional...

Embodiment 2

[0125] In this embodiment, a method for measuring the three-dimensional size of a capsule endoscope lesion tissue is proposed, and the flowchart of the method is as follows: Figure 7 shown, including the following steps:

[0126] (1) Accurate position parameters and orientation parameters of the capsule endoscope before and after the movement of the capsule endoscope, as well as the rotation of the capsule endoscope around the central axis after the movement of the capsule endoscope, are obtained by arranging the magnet and the magnetoresistive sensor. angle, the specific process is as follows:

[0127] ⑴-1, such as image 3 , a space coordinate system is established outside the human body as a reference coordinate system, an image sensor is placed outside the human body, and a capsule endoscope with a ring-shaped thin magnetic sleeve on the outer peripheral sleeve is placed inside the human body. structure as figure 2 As shown, before acquiring the position parameters of...

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Abstract

The invention provides a method for measuring depth and three-dimensional size of a nidus tissue by a capsule endoscope, which comprises the following steps: a location parameter of the capsule endoscope is obtained by utilizing a magnetic positioning method, then corresponding to a start point, a track of the capsule endoscope is obtained according to the location parameter of the capsule, the track is divided to various sections of straight lines, and the depth, corresponding to start point, of the nidus tissue is ensured by calculating each straight line; and images photographed before and after motions of the capsule endoscope is utilized to obtain a rotation angle of the capsule endoscope around a central main shaft after motion of the capsule endoscope, a three-dimensional location of feature points in the nidus tissue is calculated by the location parameter and a direction parameter of the capsule endoscope obtained by combining with the magnetic localization method, and the three-dimensional size of the nidus tissue is obtained according to the three-dimensional location of the feature points. The method has the advantages of being capable of weakening or eliminating the influence of human motion for the working of the capsule endoscope in a human body, and accurately realizing the measuring for the depth and the three-dimensional size of the nidus tissue.

Description

technical field [0001] The invention relates to a capsule endoscope technology, in particular to a method for measuring the depth and three-dimensional size of a capsule endoscope lesion tissue. Background technique [0002] The Israeli company GivenImaging proposed a positioning technology based on wireless radio frequency RF signals, which uses 8 antennas outside the human body to receive the radio frequency RF signals from the wireless capsule endoscope, and calculates the position of the wireless capsule endoscope with an algorithm. The advantage of this positioning technology is that the existing radio frequency RF signals and antennas in the wireless capsule endoscope are used, and no additional components are required in the wireless capsule endoscope; however, the positioning accuracy of this positioning technology is very low, and the average positioning accuracy is 37.7mm, which is unacceptable for clinical application. Medical imaging technologies such as X-ray i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B5/107A61B5/06
Inventor 胡超苗厚想何小其冯忠晴袁小英陈建可王永辉
Owner NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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