Curved intestinal visual navigation method for double hemispherical capsule robot

Abstract

The invention discloses a curved intestinal visual navigation method for a double hemispherical capsule robot, and belongs to the technical field of automation engineering. The method uses a followingof the double hemispherical capsule robot in a universal rotating magnetic field to determine alateral swing pitch angle of the axis, installs a vertical angle sensor in the double hemispherical capsule robot to determine a spin angle of a camera around the axis of the double hemispherecapsule robot,determines the attitude of the camera, then use the uniformity of the universal rotating magneticfield, combines attitude information to determine a direction vector of the centroid of a dark region of an intestine image in a fixed coordinate system relative to the double hemispherical capsule robot by coordinate transformation,and achievesthe navigation of the universal rotation magnetic field to the double hemispherical capsule robot in curved intestinal tracks. The method avoids the use ofa multi-camera structure and a complex intestinal three-dimensional reconstruction technology, and can achieve the navigation operation of the monocular vision-assisted double hemisphere capsule robot in the intestinal tracts without calculating the specific position information of the double hemispherical capsule robot.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a visual navigation method for a dual hemispherical capsule robot driven by a space universal rotating magnetic field in a curved intestinal tract. Background technique [0002] The human gastrointestinal tract is prone to various fatal diseases, among which colorectal cancer is the most common disease. However, if most gastrointestinal diseases are detected and diagnosed early, the cure rate will be significantly improved. Therefore, gastrointestinal examination and diagnosis are very important in the medical field. The most commonly used instrument for examining gastrointestinal diseases is the traditional endoscope, which cannot inspect the entire intestinal tract due to the limitation of the length of the catheter that can be inserted. Moreover, during the insertion of the endoscopic catheter, it is easy to cause damage to the soft tissue of the gastrointestina...

AI Technical Summary

Problems solved by technology

[0004] Although the above-mentioned capsule endoscope technology is relatively mature, there are still many problems in terms of clinical application feedback: (1) Active control of capsule dual hemispherical capsule robots: since most of the existing clinical capsule endoscopes do not have active walking mechanisms , all rely on gastrointestinal peristalsis to advance passively, so their movement in the gastrointestinal tract is random, and the capsule cannot return after missing the lesion, and doctors cannot observe the area of ​​interest in detail, so the missed detection rate is high and Check inefficiency

(2) Navigation problem of capsule dual-hemispherical capsule robot: Since the real-time position and posture (pose) of the existing capsule endoscope in the gastrointestinal tract cannot be determined, it cannot be navigated, so it is impossible to realize the capsule dual-hemispherical robot. Efficient Control of Capsule Robots

At present, the general visual navigation adopts multi-eye vision system. However, the internal space of the dual hemispherical capsule robot is small, and the method of installing multiple cameras will be limited by the space of the dual hemispherical capsule robot, and additional circuits are required to transmit information. There are high requirements for the installation accuracy of the dual hemispherical capsule robot, which makes the internal structure of the double hemispherical capsule robot too complex, and the complex circuit will reduce the reliability of the system

Although the 3D reconstruction technology can calculate the position of the current dual hemispherical capsule robot, the algorithm is complex and requires high image parameters

[0013] At present, no one has proposed to use the uniformity of the universal rotating magnetic field and the follow-up of the dual hemispherical capsule robot in the magnetic field to determine the attitude information of the camera of the dual hemispherical capsule robot relative to the fixed coordinate system through a simple vertical angle sensor. The method of determining the navigation direction through coordinate transformation, the significant advantage of this method is that it only needs to install a simple vertical angle sensor without using a multi-eye vision system, and does not need to use complex three-dimensional image reconstruction technology of the intestinal tract. The monocular camera vision of the hemispherical capsule robot combines the uniformity of the universal rotating magnetic field and the follow-up of the dual hemispherical capsule robot in the universal rotating magnetic field, and the final navigation information of the dual hemispherical capsule robot is obtained through coordinate conversion

Images