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Magnetic-guiding capsule endoscope system and track planning method

A technology of capsule endoscopy and trajectory planning, applied in the fields of endoscopy, medical science, diagnosis, etc., can solve the problems that the trajectory of capsule endoscopy cannot be determined, it is difficult to apply to the human intestinal tract, and it consumes time for doctors, and it is easy to achieve Effects of control, collision avoidance, and labor reduction

Active Publication Date: 2018-07-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Hand-held external magnets control the movement of the magnetic-guided capsule endoscope in the digestive tract outside the human body. This control method has low precision and consumes a lot of time for doctors.
The magnetically guided capsule endoscopy system for the cavity structure of the stomach is relatively mature, but it is difficult to apply to the human intestinal tract
It is because the human digestive tract has a very complex structure, especially the human intestinal tract, its spatial distribution and properties vary from person to person, and even for the same person, different postures can cause changes in the shape and position of the intestinal tract, which leads to The trajectory of the capsule endoscope cannot be determined, so it is necessary to plan the trajectory of the capsule endoscope in real time in order to realize the automatic detection function of the magnetically guided capsule endoscope in the entire digestive tract

Method used

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  • Magnetic-guiding capsule endoscope system and track planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] The human body model 7 is discretized into a series of points:

[0049] First determine the partial area of ​​the discretization point model, such as Figure 4 As shown: the current position I9 of the magnetically guided capsule robot 3 is a plane A17 perpendicular to the forward vector 8 of the magnetically guided capsule robot 3, and the forward vector 8 of the magnetically guided capsule robot 3 is perpendicular to the x-axis of the world coordinate system In the plane B19, make two planes A with a distance of a small amount δ from the plane A 1 16. Plane A 2 18. Make two planes B with distance v from plane B19 1 20. Plane B 2 21, Plane A 1 16. Plane A 2 18. Plane B 1 20. Plane B 2 The area surrounded by 21 is the partial area of ​​the discretized model described in step 4.

[0050] Then select the direction point 12 of the external guidance magnet on a part of the discretized point model: calculate the distance between the point in the part of the discretize...

Embodiment 2

[0052] The human body model 7 is discretized into a series of points:

[0053] First determine the partial area of ​​the discretization point model: the current position I9 of the magnetically guided capsule robot 3 is defined as the plane A17 perpendicular to the forward vector 8 of the magnetically guided capsule robot 3, and the forward vector 8 of the magnetically guided capsule robot 3 is defined as Plane B19 perpendicular to the x-axis of the world coordinate system, make two planes A with a small distance of δ from plane A17 1 16. Plane A 2 18. Make two planes B with distance v from plane B19 1 20. Plane B 2 21, Plane A 1 16. Plane A 2 18. Plane B 1 20. Plane B 2 The area surrounded by 21 is the partial area of ​​the discretized model described in step 4.

[0054] Then select the direction point 12 of the external guide magnet on the partial area of ​​the discretized point model: calculate the distance between the point in the partial area of ​​the discretized mo...

Embodiment 3

[0056] The human body model 7 is discretized into a series of faces or lines:

[0057] Through the current position I9 of the magnetically guided capsule robot 3, make a plane A17 perpendicular to its forward vector 8. This plane has a series of intersection points with a series of lines of the discrete curve model of the human body obtained before. For the distance between the current positions I9, select and record the obtained shortest distance as L and the corresponding shortest distance point as the direction point 12 of the external guiding magnet.

[0058] The current position I9 of the magnetically guided capsule robot 3 is a plane A17 perpendicular to its forward vector 8, which has a series of intersection lines with a series of surfaces of the previously obtained discrete curved surface model of the human body. The current position I9 of the magnetically guided capsule robot 3 can calculate the distance between all straight lines and the current position I9 of the m...

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Abstract

The invention relates to a magnetic-guiding capsule endoscope system and a track planning method, and belongs to the technical field of instruments for inspecting the digestive tract of the human bodywith the visual manner or photographing. The magnetic-guiding capsule endoscope system comprises a hospital bed, a magnet control module, a magnetic-guiding capsule robot, an external guiding magnet,a camera module and a human-computer interaction system, wherein the external guiding magnet is installed on the magnet control module, and magnets are internally installed in the external guiding magnet and the magnetic-guiding capsule robot arranged in the human body to generate an interaction magnetic field; the camera module is composed of multiple cameras located on supports of the hospitalbed, and both the camera module and the magnet control module are connected with the human-computer interaction system. Compared with the prior art, the one-to-one correspondence relationship betweenthe magnetic-guiding capsule robot and the external guiding magnet is established in position and posture, automatic navigation of the capsule robot in the intestinal tract is achieved, suspected focus parts are automatically detected, the labor amount of controllers is greatly decreased, and the cost is reduced.

Description

technical field [0001] The invention relates to a magnetically guided capsule endoscope system and a trajectory planning method, belonging to the technical field of instruments for visually or photographically inspecting cavities or tubes of a human body. Background technique [0002] Since Israel’s Given Imaging Company launched the first commercial capsule endoscope M2A in 2001, capsule endoscopy has been extensively studied as a medical method for diagnosing gastrointestinal diseases due to its excellent diagnostic effect and painless and non-invasive detection methods. , and has been gradually applied in clinical diagnosis. The magnetic-guided capsule endoscope system installs magnets into the capsule robot and drives the capsule robot through the external guidance magnet to realize the controllable movement of the capsule robot in the human digestive tract. The advantages of stability and small detection blind area have become the hotspots of current research. [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/04A61B1/045
CPCA61B1/00158A61B1/041A61B1/045
Inventor 张沛森李敬黄强吴磊周基阳周龙郝阳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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