Magnetic ball calibration method and magnetic ball calibration device
A calibration method and calibration device technology, applied in the field of magnetic control, can solve problems such as complex operation, unfavorable application, and cumbersome process, and achieve the effects of simple operation, convenient control, and simple and convenient operation
Pending Publication Date: 2022-05-13
ANKON MEDICAL TECH (SHANGHAI) CO LTD
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Problems solved by technology
Although this method can accurately determine the direction of the magnetic ball, the process is cumbersome and the operation is complicated, which is not conducive to wide application.
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no. 2 example
[0095] Such as Figure 4 Shown in (a), the second embodiment of the present invention comprises the following steps:
[0096] In step S201, the magnetic ball 10 is rotated by a first angle around a first axis.
[0097] The vertical rotation of the magnetic ball 10 means that the magnetic ball 10 rotates around the first axis 110 by a first angle, wherein the first angle is greater than 180°, such as 200°, so that during the rotation of the magnetic ball 10, the zero point position can be set to three degrees. The detection position of the axis magnetic sensor 20.
[0098] In step S202, the zero point position P where the magnetic field intensity component of the magnetic ball is zero in the direction of the second axis is obtained according to the detection data 0 ;
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The invention discloses a magnetic ball calibration method and a magnetic ball calibration device. The magnetic ball calibration method comprises the steps that a magnetic ball rotates around a first shaft by a first angle, detection data in the rotating process are obtained, and the zero point position P0 of the magnetic ball with the magnetic field intensity component being zero in the direction of a second shaft is obtained according to the detection data; obtaining a calibration position of the magnetic ball according to the detection data and the zero point position P0; calibrating the magnetic ball according to the calibration position of the magnetic ball; when the magnetic ball is located at the calibration position, the magnetic polarization direction of the magnetic ball coincides with the second axis; the first shaft is perpendicular to the second shaft; the three-axis magnetic field component comprises an X-axis magnetic field component, a Y-axis magnetic field component and a Z-axis magnetic field component; the direction of the Z-axis magnetic field component coincides with the direction of the second axis; the Y-axis magnetic field component coincides with the direction of the first axis. According to the magnetic ball calibration method and the magnetic ball calibration device, the magnetic ball can be calibrated conveniently, quickly and accurately.
Description
technical field [0001] The invention relates to the technical field of magnetic control and capsule endoscope, in particular to a magnetic ball calibration method and a magnetic ball calibration device. Background technique [0002] Capsule endoscopes can conduct detailed and comprehensive inspections under the active control of external magnetic control devices. Compared with intubation endoscopes, capsule endoscopes have the advantages of good comfort and low risk of cross-infection. The popularity rate of clinical application continues to increase. [0003] For the magnetic control capsule endoscope system, the permanent magnet (usually a magnetic sphere, ie magnetic ball) on the external magnetic control device is the core component to control the movement of the capsule endoscope. By controlling the attitude and / or position of the magnetic ball to realize the change of the magnetic field, the capsule endoscope can realize corresponding movements such as translation, ro...
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IPC IPC(8): A61B1/00A61B1/04A61B1/045
CPCA61B1/00057A61B1/00158A61B1/041A61B1/045
Inventor 王廷旗段晓东
Owner ANKON MEDICAL TECH (SHANGHAI) CO LTD
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