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A method and system for positioning a magnetically controlled capsule robot based on a magnetic sensor array

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

Active Publication Date: 2022-07-15
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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  • A method and system for positioning a magnetically controlled capsule robot based on a magnetic sensor array
  • A method and system for positioning a magnetically controlled capsule robot based on a magnetic sensor array
  • A method and system for positioning a magnetically controlled capsule robot based on a magnetic sensor array

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Embodiment 1

[0027] see Figures 1 to 2 , a magnetron capsule robot positioning system based on a magnetic sensor array, including hardware equipment including a magnetron capsule robot 7, an external permanent magnet 5, a robotic arm 4 and a positioning device based on a magnetic sensor array; the end of the robotic arm 4 is fixed An external permanent magnet 5 is installed, and a small-volume permanent magnet is embedded in the magnetron capsule robot 7;

[0028] The magnetic sensor array-based positioning device 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 . The lower magnetic sensor array disk 1' is located below the rotating hospital bed 6, on which the patient with the magnetron capsule robot 7 is lying flat, the upper magnetic sensor array disk 1 and the lower magnetic sensor array disk 1' A plurality of groups of sensor...

Embodiment 2

[0032] see image 3 , a positioning method of a magnetic control 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 origin coordinates, 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 connected with the external permanent magnets. 5 The plane of movement is symmetrically distributed up and down the center;

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

[0035]Third, adjust the position of the external permanent magnet 5 to control the moti...

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Abstract

The invention discloses a magnetic control capsule robot positioning method and system based on a magnetic sensor array, comprising a capsule robot embedded with a permanent magnet inside, an external permanent magnet, a mechanical arm, and a positioning device based on the magnetic sensor array. The beneficial effects of the invention are as follows: the end of the manipulator is fixedly installed with an external permanent magnet to realize flexible spatial magnetic field changes; a small-volume permanent magnet is embedded in the capsule robot to perform flipping motion under the action of the spatial magnetic field; the positioning method passes through the upper and lower layers. The spatial magnetic field measured by the magnetic sensor array disk is subjected to differential processing to eliminate the information of the external permanent magnet and the geomagnetic field, so as to realize the accurate acquisition of the magnetic field strength of the capsule robot; dynamically adjust the position of the magnetic sensor array disk to obtain the magnetic field gradient information of the capsule robot, and to calibrate the magnetic field gradient information of the capsule robot. Check the pose calculation results to improve the spatial positioning accuracy.

Description

technical field [0001] The invention relates to a magnetic control capsule robot positioning system, in particular to a magnetic control capsule robot positioning method and system based on a magnetic sensor array, and belongs to the technical field of three-dimensional positioning. Background technique [0002] Magnetically controlled capsule robots can safely and effectively perform non-invasive diagnosis and treatment of gastrointestinal diseases, avoiding the defects of traditional gastrointestinal endoscopy, which are painful and poor in efficacy, and have become an important milestone in the development of micro-medical robots. [0003] Real-time acquisition of the robot's pose information in the body is the primary problem to be solved by the magnetically controlled capsule robot. Traditional ultrasound imaging, CT and X-rays achieve device positioning by penetrating human tissue. Although the detection accuracy is high, the cost is high and it will cause certain dama...

Claims

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Application Information

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Patent Type & Authority Patents(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