Positioning system and device of wireless capsule endoscope and computer equipment

Abstract

The invention is suitable for the technical field of medical equipment, and provides a positioning system and device of a wireless capsule endoscope and computer equipment, and the system comprises the wireless capsule endoscope, an in-vitro driver and the computer equipment; a plurality of extracorporeal magnetic sources are arranged in the extracorporeal driver; an inertial sensor and a plurality of magnetic sensors are arranged in the wireless capsule endoscope; the computer equipment is used for executing the following operations: acquiring two-axis rotation data and measuring a magnetic field value; determining position data of an in-vitro driver, and calculating theoretical magnetic field values of the plurality of in-vitro magnetic sources at each magnetic sensor according to the two-axis rotation data and the position data; separating the measured magnetic field value measured by each magnetic sensor to obtain a separated magnetic field value of each in-vitro magnetic source at each magnetic sensor; and positioning the wireless capsule endoscope based on the theoretical magnetic field value and the separation magnetic field value. By adopting the system, the real-time six-dimensional pose of the wireless capsule endoscope can be accurately determined.

Description

technical field [0001] The present application belongs to the technical field of medical equipment, and in particular relates to a positioning system, device and computer equipment for a wireless capsule endoscope. Background technique [0002] Wireless capsule endoscopy technology is a technique for complete gastrointestinal examination, which is painless and non-invasive. The wireless capsule endoscope is actually a micro-robot in the shape of a capsule, which is equipped with a lighting module, a camera module, an image processing module and a wireless transmission module. After the wireless capsule endoscope is swallowed by the patient and enters the human digestive tract, images can be captured inside the body and transmitted outside the body in real time. Doctors or computers can diagnose diseases based on the received images. [0003] In the process of using the wireless capsule endoscope for digestive tract examination, the real-time and accurate positioning of the...

AI Technical Summary

Problems solved by technology

However, in the prior art, the real-time positioning of the wireless capsule endoscope can only solve its five-dimensional pose at most.

For example, the positioning technology of the wireless capsule endoscope based on magnetic drive uses an external permanent magnet to drive a wireless capsule endoscope with an embedded permanent magnet, and then uses a magnetic sensor to measure the superimposed magnetic field of the external permanent magnet and the permanent magnet inside the capsule. , and then calculate the real-time five-dimensional pose of the wireless capsule endoscope. This method cannot determine the rotation angle of the wireless capsule endoscope around the magnetic moment direction of the internal permanent magnet.

Some researchers estimate the forward direction of the wireless capsule endoscope by using the five-dimensional pose sequence measured over a period of time to obtain its six-dimensional pose, but this method cannot intuitively obtain the position of the wireless capsule endoscope in each The three-dimensional rotation relative to the world coordinate system at all times, and because the measurement value over a period of time is required to estimate the sixth-dimensional pose, the positioning frequency of the wireless capsule endoscope is greatly reduced, which is likely to adversely affect the digestive tract examination

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