Capsule endoscope motion control method based on magnetic field intensity change

Abstract

The invention discloses a navigation control method of a medical capsule endoscope and solves the problem of external active control on the capsule endoscope when the permanent magnet capsule endoscope performs internal examinations. The method that a permanent magnet and an electromagnetic coil are combined to control internal stable suspension motion of the capsule endoscope is adopted. The control method comprises links including a sensor signal processing link, a feedforward control law link, a feedback control law link, a state estimator link and the like. In the sensor signal processing algorithm link, position information of the capsule endoscope is acquired from an original signal returned by a sensor; in the feedforward control law link, a theoretical output signal value at the steady state is calculated according to a theoretical model to serve as a basic output signal so as to reduce the system nonlinear effect; in the feedback control law link, closed-loop control is realized according to feedback position information to reduce system errors; the state estimator link is used for eliminating or reducing instability caused by system pure lag. With the adoption of the method, stable constraint of any position of the capsule endoscope in liquids in body cavities by an external device can be realized finally.

Description

technical field [0001] The present invention relates to the field of medical equipment, in particular to an in vitro control method for gastric examination using a capsule endoscope, in particular to a magnetic control navigation control method for a medical capsule endoscope, which can be used to control and guide the capsule endoscope in the human body movement and inspection. Background technique [0002] Capsule endoscopy is a human digestive tract inspection tool that is similar in size and shape to capsules and pills, but integrates a complete set of optical photography system, wireless communication system and power supply system. After being swallowed by the subject, the capsule endoscope will move in the gastrointestinal tract, take pictures and check the inner wall of the gastrointestinal tract along the way, and send images to the external terminal. Doctors can locate and diagnose the lesion through the received images. [0003] At present, the capsule endoscope...

AI Technical Summary

Problems solved by technology

Then the movement of the hybrid magnetic field generator outside the body can guide the stable movement of the magnetic capsule endoscope in the body, so as to solve the problem of active control of the capsule endoscope in the human body.

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