Capsule endoscope space attitude determination method, system and device

Abstract

The invention discloses a capsule endoscope space attitude determination method which is characterized by comprising detecting the current co-acceleration vector of the capsule endoscope; detecting a magnetic field vector generated by an external preset directional magnetic field at a current position of the capsule endoscope; calculating the current attitude angle of the capsule endoscope by substituting the co-acceleration vector and the magnetic field vector into a preset formula. The present invention calculates the attitude angle of the capsule endoscope through the detected co-acceleration vector and magnetic field vector, wherein the magnetic field vector is generated by an externally preset horizontal directional magnetic field; the magnetic field intensity is high and the direction is fixed , which can avoid the measurement inaccuracy caused by strong magnetic interference when geomagnetic sensors are used to detect the magnetic field vector of geomagnetic field. The integral accumulated error caused by the angular velocity meter in the prior art is avoided and the attitude measurement accuracy is increased. The invention also discloses a capsule endoscope space attitude determination system and device which have beneficial effects as described above.

Description

Technical field [0001] The invention relates to the field of medical technology, in particular to a method for measuring the spatial posture of a capsule endoscope. The invention also relates to a capsule endoscope space attitude measuring system and a capsule endoscope space attitude measuring device. Background technique [0002] With the development of micro-optical electromechanical technology, robotics technology, and wireless communication technology, medical instruments have begun to develop in the direction of miniaturization, intelligence, and non-invasive diagnosis, and electronic capsules have gradually become a research hotspot. Capsule endoscopy greatly expands the doctor's gastrointestinal inspection field of vision, fills the blind area of ​​gastroscopy and colonoscopy, and solves the difficult problems in the diagnosis of small bowel diseases and gastrointestinal occult blood for many years. Compared with traditional medical endoscopes, capsule endoscopes have th...

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Problems solved by technology

[0007] However, when the capsule uses the internal sensor to measure the full attitude information, since the active capsule endoscope is used in the environment, its driving force comes from the force of the external magnetic field on the internal magnet, so there is strong magnetic field interference, and the 3-axis The geomagnetic sensor cannot be used, and the integral cumulative error generated by data fusion using the accelerometer and angular velocity meter is unacceptable

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