A positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope

A technology of capsule endoscopy and three-dimensional attitude, which is applied in the fields of endoscopy, medical science, diagnosis, etc., and can solve the problems of increasing the volume of wireless capsule endoscopy

Active Publication Date: 2017-07-28
余成佳
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  • Abstract
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  • Claims
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Problems solved by technology

This method needs to arrange two three-axis induction coils in the wireless capsule endoscope to locate, and it needs to increase the volume of the wireless capsule endoscope.

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  • A positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope
  • A positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope
  • A positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope

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[0092] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0093] Positioning system for 3D position and 3D attitude of wireless capsule endoscope, such as figure 1 As shown, it includes a transmitting coil arranged outside the human body with three orthogonal axes, an external wireless receiving module, an external pose calculation module and a wireless capsule endoscope located in the body. The transmitting coil consists of three orthogonal coils I, Composed of coil II and coil III, the coil I, coil II and coil III sequentially transmit signals of their respective fixed frequencies, and coil I, coil II and coil III transmit a signal to form a cycle; the wireless capsule endoscope is set There are two-axis orthogonal induction coils, and the two-axis orthogonal induction coils output three se...

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Abstract

The invention provides a positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope. The positioning system comprises a three-axis-orthogonal transmitting coil outside a human body, an in vitro wireless receiving module, an in vitro position and attitude calculating module, and an in vivo wireless capsule endoscope. The three-axis-orthogonal transmitting coil is arranged outside the human body; only a two-axis-orthogonal induction coil is arranged in the wireless capsule endoscope; the transmitting coil is close to the human body; a coil I, a coil II and a coil III of the transmitting coil transmit signals with respective fixed frequencies in order; the time spent by the three-axis transmitting coil for completing transmission of signals once is called a cycle; the two-axis induction coil inductively outputs three groups of voltage signals with different frequencies in one cycle; thus an equation set can be built for calculation of a three-dimensional position and a three-dimensional attitude. The method is convenient in integration; the two-axis induction coil only occupies a little place in the wireless capsule endoscope; the wireless capsule endoscope can be positioned continuously in real time; subsequent operations are facilitated; the system and the method are safe and reliable and are low in cost.

Description

【Technical field】 [0001] The invention relates to a three-dimensional positioning technology, in particular to a positioning system and a positioning method for the three-dimensional position and three-dimensional posture of a wireless capsule endoscope. 【Background technique】 [0002] At present, one of the shortcomings of clinical wireless capsule endoscopes is that they cannot be actively controlled. To realize this active control function and facilitate clinical use, the three-dimensional position and three-dimensional attitude information of the wireless capsule endoscope must be fed back to the control system in real time; At the same time, the visual navigation of the wireless capsule endoscope in the reconstructed digestive tract also requires three-dimensional position and three-dimensional attitude information, so that doctors can conveniently manipulate the wireless capsule endoscope. [0003] In view of the above problems, X-ray imaging, CT (computed tomography) ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/04A61B5/06
CPCA61B1/00147A61B1/041A61B5/062A61B5/065
Inventor 阳万安戴厚德胡超蔡乐才苏诗荐陈冬君宋霜李彦
Owner 余成佳
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