Magnetic control capsule robot positioning method and system based on magnetic sensor array

A capsule robot and magnetic sensor technology, applied in the field of three-dimensional positioning, can solve the problems of interference and the inability to accurately obtain the magnetic field change information of the capsule robot, and achieve the effects of accurate acquisition, flexible spatial magnetic field changes, and improved spatial positioning accuracy

Active Publication Date: 2021-08-27
CHINA UNIV OF MINING & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the influence of the strong external driving magnetic field and the geomagnetic field, the use of magnetic sensors to detect the magnetic field information of the magnetically controlled capsule robot has very large interference, and it is impossible to accurately obtain the magnetic field change information of the capsule robot.

Method used

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  • Magnetic control capsule robot positioning method and system based on magnetic sensor array
  • Magnetic control capsule robot positioning method and system based on magnetic sensor array
  • Magnetic control capsule robot positioning method and system based on magnetic sensor array

Examples

Experimental program
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Effect test

Embodiment 1

[0027] see Figure 1~2 , a magnetically controlled capsule robot positioning system based on a magnetic sensor array, including hardware equipment including a magnetically controlled capsule robot 7, an external permanent magnet 5, a mechanical arm 4, and a positioning device based on a magnetic sensor array; the end of the mechanical arm 4 is fixed An external permanent magnet 5 is installed, and a small-volume permanent magnet is embedded inside the magnetically controlled capsule robot 7;

[0028] The positioning device based on the magnetic sensor array is composed of an upper magnetic sensor array disk 1, a lower magnetic sensor array disk 1', a lead screw 2, and a base 3. The upper magnetic sensor array disk 1 is located above the rotating hospital bed 6, and the The lower magnetic sensor array disk 1' is located below the rotating hospital bed 6, and the patient with the magnetically controlled capsule robot 7 lying in the body is lying on the rotating hospital bed 6. T...

Embodiment 2

[0032] see image 3 , a positioning method of a magnetically controlled capsule robot positioning system based on a magnetic sensor array, the positioning method comprising the following steps:

[0033] First, establish a space coordinate system, set the external permanent magnet 5 at the coordinates of the origin, adjust the positions of the upper magnetic sensor array disk 1 and the lower magnetic sensor array disk 1' respectively, so that the two magnetic sensor array disks are separated by the external permanent magnets. 5. The plane of motion is distributed symmetrically up and down in the center;

[0034] Second, the spatial magnetic field information at the initial moment is measured respectively through the upper magnetic sensor array disk 1 and the lower magnetic sensor array disk 1 ', and the information includes the magnetic field of the earth and the magnetic field of the external permanent magnet 5;

[0035]Third, adjust the position of the external permanent mag...

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Abstract

The invention discloses a magnetic control capsule robot positioning method and system based on a magnetic sensor array. The system comprises a capsule robot internally embedded with a permanent magnet, an external permanent magnet, a mechanical arm and a positioning device based on the magnetic sensor array. The system and the method have the beneficial effects that the external permanent magnet is fixedly installed at the tail end of the mechanical arm, so flexible space magnetic field changes are achieved; a small-size permanent magnet is embedded into the capsule robot, and the capsule robot turns over under the action of a space magnetic field; according to the positioning method, differential processing is carried out on space magnetic fields measured by upper and lower magnetic sensor array discs, information of an external permanent magnet and a geomagnetic field is eliminated, and accurate acquisition of the magnetic field intensity of the capsule robot is achieved; and the positions of the magnetic sensor array discs are dynamically adjusted, the magnetic field gradient information of the capsule robot is obtained, the pose calculation result is verified, and the spatial positioning precision is improved.

Description

technical field [0001] The invention relates to a positioning system for a magnetically controlled capsule robot, in particular to a positioning method and system for a magnetically controlled capsule robot based on a magnetic sensor array, and belongs to the technical field of three-dimensional positioning. Background technique [0002] The magnetically controlled capsule robot can safely and effectively conduct non-invasive diagnosis and treatment of gastrointestinal diseases, avoiding the defects of the traditional gastroenteroscopy diagnosis process, which is painful and poor in efficacy, and has become an important milestone in the development of micro-medical robots. [0003] Obtaining the pose information of the robot in the body in real time is the primary problem to be solved for the magnetically controlled capsule robot. Traditional ultrasound imaging, CT and X-rays realize the positioning of equipment by penetrating human tissue. Although the detection accuracy is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00
CPCA61B34/30A61B34/73A61B2034/303A61B2034/731
Inventor 华德正刘新华申玉瑞方淙敏刘晓帆周皓路和刘浩
Owner CHINA UNIV OF MINING & TECH
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