Gastrointestinal motility capsule and its positioning system

Abstract

The present invention discloses a gastrointestinal motility capsule and a positioning system thereof. The gastrointestinal motility capsule includes a shell and a magnet. The magnet is fixed in the shell by a fixing structure. The magnet includes a permanent magnet and an electromagnet. The magnet is used to generate a changing magnetic field when the gastrointestinal motility capsule moves in the subject's body with the peristalsis of the gastrointestinal tract. The positioning system includes a positioning device and a terminal device. The positioning system measures the change of the magnetic field and performs posture calculation, so as to position the gastrointestinal motility capsule, and then assists the doctor in making a diagnosis of gastrointestinal disorders according to the positioning result. The gastrointestinal motility capsule has a simple structure, is easy to operate, is non-invasive to the subject, and is low in cost; the positioning system of the gastrointestinal motility capsule has a simple structure, is easy to operate, and is low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a gastrointestinal motility capsule and a positioning system thereof. Background Art

[0002] Digestive system diseases are the second largest medical problem after cardiovascular diseases, and diseases related to gastrointestinal motility disorders account for nearly half of digestive tract diseases. Gastrointestinal motility refers to the strength and frequency of gastrointestinal muscle contraction and peristalsis. Gastrointestinal motility disorders cause indigestion, which can cause symptoms such as abdominal distension, constipation, nausea, and vomiting in mild cases. Over time, it is easy to develop gastritis, gastroparesis, esophageal reflux, and even cancer, which seriously affects people's daily work and life.

[0003] At present, the main examination methods for evaluating gastrointestinal motility disorders include measuring intracavitary pressure, measuring pH, electrogastroenterogram, marker capsules, etc. The pressure measurement method requires intubation, which is invasive and cannot accurately locate the site of dysfunction. Although the pH measurement method does not require intubation, it can only detect abnormal gastric motility at a certain point, so it is rarely used in clinical practice. The electrogastrogram method is to place electrodes on the abdominal surface and record the gastrointestinal electrical rhythm when fasting and after meals, and analyze whether there is abnormal gastric electrical rhythm to determine whether the gastrointestinal contraction function is disordered. Although this method is easy to accept, its clinical diagnostic value is still controversial. The marker method requires multiple abdominal X-rays 24, 48, and 72 hours after the subject swallows an X-ray-opaque marker. There is radiation, the equipment is expensive, and the examination is time-consuming. Therefore, it is necessary to provide a gastrointestinal motility capsule and its positioning system to overcome at least one problem existing in the above prior art. Summary of the invention

[0004] In order to solve at least one technical problem existing in the prior art, an embodiment of the present invention provides a gastrointestinal motility capsule and a positioning system thereof. The gastrointestinal motility capsule has a simple structure, is easy to operate, is non-invasive to the subject, and has low cost. The positioning system of the gastrointestinal motility capsule has a simple structure, is easy to operate, and has low cost. It can accurately position the gastrointestinal motility capsule in the gastrointestinal tract, and then assist doctors in making a diagnosis of gastrointestinal disorders based on the positioning results.

[0005] An embodiment of the present invention provides a gastrointestinal motility capsule, including a shell and a magnet, wherein the magnet is fixed in the shell by a fixing structure, and the magnet is a permanent magnet or an electromagnet, and is used to generate a changing magnetic field when the gastrointestinal motility capsule moves in the digestive tract of a subject.

[0006] In some embodiments, the gastrointestinal motility capsule further includes a camera module and a data transceiver module, and the camera module and the data transceiver module are respectively disposed in the shell.

[0007] In some embodiments, when the magnet is a permanent magnet, the shape of the magnet is spherical or cylindrical, and the weight of the magnet is less than or equal to 10g.

[0008] In some embodiments, when the shape of the magnet is cylindrical, the length of the magnet is less than or equal to 20 mm, and the diameter of the magnet is less than or equal to 10 mm.

[0009] The present invention provides a positioning system for any of the above-mentioned gastrointestinal motility capsules, comprising a positioning device and a terminal device, wherein the positioning device and the terminal device are connected via a communication link;

[0010] The positioning device includes at least two magnetic sensors i, i∈(1,N), N is a positive integer greater than or equal to 2, and each of the magnetic sensors i is used to collect the jth time point T j The intensity data of the magnetic field D ij , j∈(1,N), N is a positive integer greater than or equal to 1, the positioning device converts the intensity data D ij Sending to the terminal device via the communication link;

[0011] The terminal device is used to ij The position, posture information and movement frequency of the gastrointestinal motility capsule in the gastrointestinal tract are determined.

[0012] In some embodiments, the terminal device is also used to determine the peristaltic frequency of the stomach and / or intestines based on the position and posture information and the movement frequency.

[0013] In some embodiments, the positioning system further includes a reference sensor, wherein the reference sensor is used to collect the time point T j The reference intensity data D of the positioning device affected by movement, angle and geomagnetism rj .

[0014] In some embodiments, the positioning device further includes a first PCB circuit board and a main control board, the first PCB circuit board is electrically connected to the main control board, and all the magnetic sensors i are arranged on the first PCB circuit board.

[0015] In some embodiments, the positioning device further comprises a belt wearable by the subject, the first PCB circuit board and the main control board are arranged on the wearable belt, and the wearable belt is used to fix the first PCB circuit board and the main control board on the subject.

[0016] In some embodiments, the number of the magnetic sensors is 4 to 25, and the distance between two adjacent magnetic sensors i is greater than or equal to 1 cm and less than or equal to 5 cm.

[0017] In some embodiments, the positioning device includes at least two second PCB circuit boards and a main control board, each of the second PCB circuit boards is electrically connected to the main control board, and one or more magnetic sensors i are arranged on each of the second PCB circuit boards.

[0018] In some embodiments, the positioning device includes at least two adhesive parts, the adhesive parts are connected to the second PCB circuit board, and the second PCB circuit board is fixed to the subject through the adhesive parts.

[0019] In some embodiments, the positioning device further comprises a data storage device, the data storage device is electrically connected to the main control board, and the data storage device is used to store the intensity data D of the magnetic field. ij .

[0020] The present invention discloses a gastrointestinal motility capsule and a positioning system thereof. The gastrointestinal motility capsule includes a shell and a magnet. The magnet is fixed in the shell by a fixing structure. The magnet includes a permanent magnet and an electromagnet. The magnet is used to generate a changing magnetic field when the gastrointestinal motility capsule moves in the subject's body with the peristalsis of the gastrointestinal tract. The positioning system includes a positioning device and a terminal device. The positioning system measures the change of the magnetic field and performs posture calculation, so as to position the gastrointestinal motility capsule, and then assists the doctor in making a diagnosis of gastrointestinal disorders according to the positioning result. The gastrointestinal motility capsule has a simple structure, is easy to operate, is non-invasive to the subject, and is low in cost; the positioning system of the gastrointestinal motility capsule has a simple structure, is easy to operate, and is low in cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementation methods, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention.

[0022] In the attached picture:

[0023] Figure 1 This is a schematic diagram of the structure of a gastrointestinal motility capsule according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of an application of a positioning system in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of another application of a positioning system in an embodiment of the present invention;

[0026] Figure 4 Schematic diagram of the arrangement of magnetic sensors on a positioning device in an embodiment of the present invention;

[0027] Figure 5is a schematic diagram of another arrangement of magnetic sensors on a positioning device in an embodiment of the present invention;

[0028] Figure 6 It is a structural schematic diagram of another positioning device in an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of a cylindrical magnetic field model in an embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the cylindrical coordinate system of the cylindrical magnet in the embodiment of the present invention.

[0031] Description of reference numerals:

[0032] Gastrointestinal motility capsule 1, shell 11, magnet 12, fixing structure 13, cylindrical magnet 12-1,

[0033] Positioning device 2, magnetic sensor i, first PCB circuit board 21, second PCB circuit board 22,

[0034] Terminal device 3,

[0035] Reference sensor 4. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] The gastrointestinal motility capsule and its positioning system provided by the embodiment of the present invention are applied to gastrointestinal motility examination. Before the examination, the examinee fixes the positioning device on the body and swallows a gastrointestinal motility capsule 1 with water; after the gastrointestinal motility capsule 1 enters the digestive tract, it moves with the peristalsis of the digestive tract, and the position and posture of the gastrointestinal motility capsule 1 are constantly changing, thereby causing a change in the magnetic field strength, which is detected by the positioning device 2, and the positioning device 2 collects the intensity data D of the magnetic field in real time. ij and save, or in real time, the intensity data D collected ij After the gastrointestinal motility capsule 1 is discharged from the body, the positioning device 2 is recovered and the intensity data D ij Determine the position and posture information of the gastrointestinal motility capsule 1 and the movement frequency of the gastrointestinal motility capsule. Because the gastrointestinal motility capsule 1 in the digestive tract moves freely, it truly reflects the time, strength and frequency of gastrointestinal tract contraction and peristalsis. Therefore, by analyzing the above calculation results, not only the occurrence site of gastrointestinal motility disorder can be determined, but also the severity of gastrointestinal motility disorder can be evaluated, which provides important reference information for doctors to make accurate diagnosis and precise treatment.

[0038] See also Figure 1 As shown, an embodiment of the present invention provides a gastrointestinal motility capsule 1, which includes a shell 11 and a magnet 12. The magnet 12 is fixed in the shell 11 by a fixing structure 13. The magnet is a permanent magnet or an electromagnet. The magnet is used to generate a changing magnetic field when the gastrointestinal motility capsule moves in the subject's body along with the peristalsis of the digestive tract.

[0039] Specifically, the shell 11 can be a medical plastic. When the magnet 12 is a permanent magnet. For example, one of neodymium iron boron, ferrosoferric oxide, samarium cobalt and aluminum nickel cobalt can be selected to make the magnet. The magnet 12 can also be an electromagnetic coil. The fixed structure 13 can be a bracket or a bonding structure, which is used to fix the magnet 12 in the shell 11. The gastrointestinal motility capsule can be an isodensity body or a non-isodensity body. The gastrointestinal motility capsule has a simple structure, is easy to operate, is non-invasive to the subject, and has low cost. After the gastrointestinal motility capsule 1 enters the digestive tract, it moves with the peristalsis of the digestive tract, and its position and posture are constantly changing, thereby causing a change in the magnetic field strength.

[0040] In some embodiments, the shell of the gastrointestinal motility capsule 1 may be in a capsule shape, or in other shapes such as a cylinder or a sphere.

[0041] In some embodiments, the gastrointestinal motility capsule 1 may also include functional modules such as a camera module and a data transceiver module, which can perform photo and / or video functions in the digestive tract and send the captured picture data or image data to the outside of the body to assist doctors in making diagnosis results of gastrointestinal diseases.

[0042] In some embodiments, when the magnet 12 is a permanent magnet, the shape of the magnet is spherical or cylindrical, and the weight of the magnet is less than or equal to 10 g.

[0043] In some embodiments, when the shape of the magnet 12 is cylindrical, the length of the magnet is less than or equal to 20 mm, and the diameter of the magnet is less than or equal to 10 mm.

[0044] like Figure 2 As shown, an embodiment of the present invention provides a positioning system for locating the position of a gastrointestinal motility capsule in the gastrointestinal tract, the positioning system comprising a positioning device 2 and a terminal device 3, the positioning device 2 and the terminal device 3 are connected via a communication link; the positioning device 2 comprises at least two magnetic sensors i, i∈(1,N), N is a positive integer greater than or equal to 2, each of the magnetic sensors i is used to collect the jth time point T j The intensity data of the magnetic field D ij, j∈(1,N), N is a positive integer greater than or equal to 1, the positioning device 2 converts the intensity data D ij The terminal device 3 is used to send the intensity data D to the terminal device 3 through the communication link; ij The position, posture information and movement frequency of the gastrointestinal motility capsule in the gastrointestinal tract are determined.

[0045] Specifically, the communication link includes but is not limited to: a wired network, a wireless network, wherein the wired network includes: a local area network, a metropolitan area network and a wide area network, and the wireless network includes: Bluetooth, WIFI and other networks that realize wireless communication. When the gastrointestinal motility capsule 1 is at a certain position in the gastrointestinal tract at a certain point in time, its position relative to each magnetic sensor i is different, so the magnetic field intensity data D collected by each magnetic sensor i ij are different, so two or more magnetic sensors i can determine the position of the gastrointestinal motility capsule 1 in the gastrointestinal tract. In order to obtain better positioning accuracy, the number of magnetic sensors i can be 4 to 25, and the distance between two adjacent magnetic sensors i is greater than or equal to 1 cm and less than or equal to 5 cm. The magnetic sensor i can be a three-axis Hall magnetic sensor or three single-axis Hall magnetic sensors. The magnetic sensor i can use the magnetic field sensor of STMicroelectronics or the magnetic sensor of AsahiKASEI. In some embodiments, the positioning device also includes a capacitor, which is used to stabilize the voltage of the positioning device to reduce signal noise. During the examination, the positioning device is fixed on the body of the subject, specifically on the waist, and the fixing method is not limited here.

[0046] The terminal device 3 may be a local server, a cloud server, or various smart phones, tablet computers, laptop computers, desktop computers, or smart watches. The terminal device is used to generate a signal based on the intensity data D ij The position, posture information and movement frequency of the gastrointestinal motility capsule in the gastrointestinal tract are determined.

[0047] The positioning system for a gastrointestinal motility capsule provided in an embodiment of the present invention has a simple structure, is easy to operate, and is low-cost. It can accurately position the gastrointestinal motility capsule in the gastrointestinal tract, and then assist doctors in making a diagnosis of gastrointestinal disorders based on the positioning results.

[0048] In some embodiments, the terminal device 3 is further used to determine the peristaltic frequency of the stomach and / or intestine according to the position and posture information and the movement frequency. The doctor determines whether the gastrointestinal function of the subject is normal according to the peristaltic frequency of the stomach and / or intestine, and if abnormal, further determines the severity of the gastrointestinal disorder.

[0049] like Figure 3As shown, in some embodiments, the positioning system further includes a reference sensor 4, wherein the reference sensor 4 is used to collect the time point T j The reference intensity data D of the positioning device affected by movement, angle and geomagnetism rj .

[0050] Specifically, during the examination, the positioning device 2 is fixed to the abdomen of the subject, and the subject needs to wear it continuously for 24-72 hours. During this process, the position and posture of the positioning device 2 will change, causing the interference components in the data collected by the magnetic sensor i to change at any time, and it is impossible to simply remove a fixed interference value. Therefore, a reference sensor is used to remove the interference caused by the movement of the positioning device 2, the geomagnetism and the movement of the subject, and obtain the real magnetic field change data caused by the movement of the gastrointestinal motility capsule 1. The reference sensor 4 can be one of the sensors such as a magnetic sensor, an acceleration sensor, an inclination sensor or an IMU (Inertial measurement unit). When the reference sensor 4 is a magnetic sensor, the calculation is most convenient and simple, and the value of the reference sensor 4 can be directly subtracted; when the reference sensor 4 is another type of sensor, it is necessary to first calculate the posture of the positioning device 22 according to the sensor data, and then calculate the xyz axis components of the interference signal according to the geomagnetic vector, and finally subtract these component values.

[0051] In some embodiments, the positioning device further includes a first PCB circuit board 21 and a main control board, the first PCB circuit board 21 is electrically connected to the main control board, and all the magnetic sensors i are arranged on the first PCB circuit board 21.

[0052] Specifically, the main control board is used to process the intensity data of the received magnetic field, including filtering and other processing. For example, the number of the magnetic sensors i is 4 to 25, and the distance between two adjacent magnetic sensors i is greater than or equal to 1 cm and less than or equal to 5 cm. The arrangement of the magnetic sensors i on the first PCB circuit board 21 can be various, such as a cross shape or a square shape. For example, the arrangement of the magnetic sensors i is 2x2 to 5x5, which can obtain better positioning accuracy. In some embodiments, Figure 4 As shown, the 3x3 arrangement of magnetic sensor i can be simplified to Figure 4 4 as shown in or Figure 4 The arrangement of the five magnetic sensors i shown in , can reduce the cost while ensuring the positioning accuracy. In some embodiments, as Figure 5 As shown, the 5x5 arrangement of magnetic sensor i can be simplified to Figure 5 The 13 or Figure 5 The arrangement of the 12 magnetic sensors i shown can reduce costs while ensuring positioning accuracy.

[0053] In some embodiments, the positioning device further comprises a belt that can be worn by the subject, the first PCB circuit board 21 and the main control board are arranged on the wearable belt, and the wearable belt is used to fix the first PCB circuit board 21 and the main control board on the subject. Specifically, it can be fixed on the waist of the subject. This makes it convenient to put on and take off, and the operation is simple. Figure 6 As shown, in some embodiments, the positioning device includes at least two second PCB circuit boards 22 and a main control board (not shown in the figure), each of the second PCB circuit boards 22 is electrically connected to the main control board, and each of the second PCB circuit boards 22 is provided with one or more magnetic sensors i. That is, a first PCB circuit board 21 is replaced by multiple second PCB circuit boards 22. It can be understood that the size of the second PCB circuit board 22 is smaller than that of the first PCB circuit board 21. One or more magnetic sensors i are provided on each of the second PCB circuit boards 22. Further, the positioning device 2 includes at least two adhesive parts, the adhesive parts are connected to the second PCB circuit board 22, and the second PCB circuit board 22 is fixed on the subject through the adhesive parts. In this way, by respectively pasting the second PCB circuit boards 22 at different positions on the body surface of the subject, a positioning effect similar to that of a first PCB circuit board 21 is achieved, and multiple second PCB circuit boards 22 can be directly pasted on the body surface of the subject, respectively, with the advantages of better wearing experience, larger positioning range, more flexible use method, less easy to move and more stable.

[0054] In some embodiments, 2 to 3 magnetic sensors i with different ranges and / or different sensitivities can be configured simultaneously in the positioning device 2, to correspond to different scenarios where the gastrointestinal motility capsule 1 is at different distances from the positioning device 2 in the gastrointestinal tract, so as to obtain the best data for calculating the position, posture and movement frequency. When the gastrointestinal motility capsule 1 is far away from the positioning device 2, a small-range and high-sensitivity magnetic sensor is used to collect the intensity data of the magnetic field; when the gastrointestinal motility capsule 1 is close to the positioning device 2, a large-range and low-sensitivity magnetic sensor is used to collect the intensity data of the magnetic field, and the positions of the two magnetic sensors are close.

[0055] In some embodiments, the positioning device 2 further includes a data storage device, the data storage device is electrically connected to the main control board, and the data storage device is used to store the intensity data D of the magnetic field. ij .

[0056] Specifically, the data storage device is used to store the received magnetic field intensity data D ij , can also be used to store processed magnetic field strength data.

[0057] In some embodiments, the terminal device 3 is used to ij Determine the position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal tract RPA j Including: the terminal device 3 to the intensity data D ij Perform preprocessing to obtain the processed intensity data D fij The terminal device 3 is based on the processed intensity data D fij and the theoretical value of the intensity of the magnetic field B tij , through the positioning algorithm, determine the time point T j The position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal tract RPA j , where B tij is the time point T j The theoretical strength value of the magnetic field corresponding to the magnetic sensor i, D fij is the time point T j The intensity data of the magnetic field collected by the magnetic sensor i at time T is obtained after preprocessing, that is, the processed intensity data at time point T j The measured intensity value of the magnetic field by the magnetic sensor i at the time. In the embodiment of the present invention, the theoretical intensity value of the magnetic field refers to the magnetic field intensity value that the magnetic sensor can theoretically measure according to the cylindrical model or the magnetic dipole model, and the theoretical intensity value of the magnetic field is calculated specifically according to the following magnetic dipole model formula (6) or cylindrical model formula (7).

[0058] In some embodiments, the terminal device 3 processes the intensity data D ij The preprocessing includes calibrating the positioning device 2 to remove the noise and error of the magnetic sensor i itself; and adding a reference sensor 4 to the system to remove the interference of the positioning device 2 caused by movement, the earth's magnetic field and human body movement.

[0059] In some embodiments, the terminal device 3 pre-processes the intensity data to obtain processed intensity data D fij The terminal device 3 processes the intensity data D according to the calibration result. ij , according to the following formula (1), the corrected intensity data D is obtained cij ,

[0060] D cij =M*(D ij -B) (1)

[0061] Wherein, M is the scale correction coefficient, and B is the zero offset correction coefficient;

[0062] The terminal device 3 according to the time point T jThe reference intensity data Drj and the corrected intensity data Dcij are calculated according to the following formula (2) to obtain the processed intensity data D fij .

[0063] D fij =D cij -D rj (2)

[0064] Specifically, in the embodiment of the present invention, the positioning device 2 is calibrated before use to remove the noise and error of the magnetic sensor i itself. The calibration method is to randomly rotate the positioning device 2 at multiple positions and angles to collect a suitable amount of data. For example, when the data collection frequency is 50 Hz, the suitable amount is the amount of data for 1 minute, that is, 5000 data. Before performing a gastrointestinal motility test, calibrating each magnetic sensor i can eliminate the inherent noise of the magnetic sensor i and the measurement differences between each magnetic sensor i.

[0065] After the gastrointestinal motility capsule 1 enters the subject's body, the multiple magnetic sensors i (i=1, 2, ..., n) included in the positioning device 2 respectively collect the original data of the change in magnetic field intensity caused by the gastrointestinal motility capsule 1, and save the original data to the positioning device 2 or the terminal device 3. The data saving format is that each row represents a time point, and each column is the first magnetic sensor x-axis, the first magnetic sensor y-axis, the first magnetic sensor z-axis, the second magnetic sensor x-axis, the second magnetic sensor y-axis, the second magnetic sensor z-axis, ..., the nth magnetic sensor x-axis, the nth magnetic sensor y-axis, the nth magnetic sensor z-axis, and n represents the number of magnetic sensors; the rows and columns can also be interchanged, that is, each column represents a time point, and each row is the first magnetic sensor x-axis, the first magnetic sensor y-axis, the first magnetic sensor z-axis, the second magnetic sensor x-axis, the second magnetic sensor y-axis, the second magnetic sensor z-axis, ..., the nth magnetic sensor x-axis, the nth magnetic sensor y-axis, the nth magnetic sensor z-axis, and n represents the number of magnetic sensors; The order of rows or columns may also be interchanged, for example, each column is the first magnetic sensor x-axis, the second magnetic sensor x-axis, the third magnetic sensor x-axis, ..., the nth magnetic sensor x-axis, the first magnetic sensor y-axis, the second magnetic sensor y-axis, the third magnetic sensor y-axis, ..., the nth magnetic sensor y-axis, the first magnetic sensor z-axis, the second magnetic sensor z-axis, the third magnetic sensor z-axis, ..., the nth magnetic sensor z-axis. The raw data is a binary complement code, and the raw data first needs to be decoded and converted into a decimal value, and then multiplied by the sensitivity coefficient of the magnetic sensor 21 to finally obtain the intensity data D ij, in mT. The sensitivity coefficient of the magnetic sensor needs to be determined by referring to the manual of the magnetic sensor used, in μT / LSB. In this or subsequent processing steps, the inherent fluctuations and noise of the data can be suppressed by low-pass filtering, mean filtering, median filtering, smoothing filtering, moving filtering or band-pass filtering. Then, according to the zero offset correction coefficient B and the proportional correction coefficient M, the intensity data D is corrected according to the following formula (1). ij Correction is performed to obtain the corrected intensity data D cij .

[0066] The positioning device 2 is fixed to the abdomen of the subject, and the subject needs to wear it continuously for 24-72 hours. During this process, the position and posture of the positioning device 2 will change, causing the interference components in the data collected by the magnetic sensor i to change at any time. It is impossible to simply remove a fixed interference value. In the embodiment of the present invention, the terminal device 3 j The reference intensity data D rj and the corrected intensity data D cij , the processed intensity data D is calculated according to the following formula (2): fij Thus, the interference of the positioning device 2 caused by the geomagnetic field and the movement of the subject is eliminated, and the real magnetic field change data caused by the movement of the gastrointestinal motility capsule 1 is obtained.

[0067] In some embodiments, the positioning device 2 includes more than two magnetic sensors i, as shown in the following formulas (3)-(5), by subtracting the data of the magnetic sensors i from each other, the interference signal can also be removed to achieve the same purpose as the present invention. It can be understood that if this interference removal method is adopted, the reference sensor 4 is not required.

[0068] D1=S1+N (3)

[0069] D2=S2+N (4)

[0070] D1-D2=S1-S2 (5)

[0071] Among them, S1 and S2 are the real changes in magnetic field strength, and N is the interference signal.

[0072] The embodiment of the present invention pre-processes the intensity data to obtain the processed intensity data D fij , that is, obtaining the intensity data of the real magnetic field intensity change caused by the gastrointestinal motility capsule 1 at different time points, thereby improving the success rate and accuracy of the calculation of the position and posture information and movement frequency of the gastrointestinal motility capsule 1, and providing an important reference for doctors to make accurate diagnosis and appropriate treatment plans.

[0073] In some embodiments, the terminal device 3 is further used to calculate the theoretical value B of the intensity of the magnetic field according to the magnetic field model. tij include:

[0074] When the magnet 12 is a spherical magnet or a cylindrical magnet 12-1, the theoretical value B of the magnetic field strength is calculated according to the magnetic dipole model formula (6): tij ,

[0075]

[0076] Among them, μ r is the relative magnetic permeability, μ0 is the vacuum magnetic permeability, M T To characterize the magnetic field strength constant of the magnet 12, M c is a vector representing the direction of the magnetic field of the magnet 12 , P is the vector of the magnetic sensor i relative to the center point of the magnet 12 , and R is the modulus of the vector of the magnetic sensor i relative to the center point of the magnet 12 .

[0077] In some embodiments, the terminal device 3 is further used to calculate the theoretical value B of the intensity of the magnetic field according to the magnetic field model. tij include:

[0078] When the magnet 12 is a cylindrical magnet 12-1, refer to the cylindrical model schematic. Figure 7 , calculate the theoretical value B of the magnetic field intensity according to the cylindrical model formula (7): tij ,

[0079]

[0080] Wherein, μ0 is the vacuum magnetic permeability; M0 is the vector representing the magnetic field direction of the magnet 12; l is the height of the cylindrical magnet 12-1; a is the radius of the cylindrical magnet 12-1; r is the distance of the magnetic sensor i relative to the center of the cylindrical magnet 12-1; e r is the r direction component of the vector of the magnetic sensor i relative to the center of the cylindrical magnet 12-1; e θ is the θ direction component of the vector of the magnetic sensor i relative to the center of the cylindrical magnet 12-1; θ is the angle between the center vector of the magnetic sensor i relative to the cylindrical magnet 12-1 and the vector representing the magnetic field direction of the cylindrical magnet 12-1.

[0081] In some embodiments, the terminal device uses the processed intensity data D fij and the theoretical value of the intensity of the magnetic field B tij , through the positioning algorithm, determine the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j include:

[0082] S11: The terminal device is set at time point T j The initial position and posture of the gastrointestinal motility capsule at the time PA=PA0=(x0, y0, z0, m0, n0, p0);

[0083] S12: When the magnet is a spherical magnet, the terminal device j The initial position and posture PA of the gastrointestinal motility capsule and the position coordinates of the magnetic sensor i (a i ,b i ,c i ), the magnetic dipole model formula is used to calculate the time point T j The theoretical value of the magnetic field strength B tij (B txij ,B tyij ,B tzij );

[0084] S13: The terminal device compares the time point T using the least square method j The theoretical value of the magnetic field strength B tij With the processed intensity data D ijf , get the comparison result;

[0085] S14: When the comparison result meets the preset conditions, the time point T is obtained. j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j =PA0=(x0,y0,z0,m0,n0,p0);

[0086] S15: When the comparison result does not meet the preset condition, update the time point T j The initial position and posture of the gastrointestinal motility capsule at time T is: PA = PA0 + p, where p(Δx, Δy, Δz, Δm, Δn, Δp) is a normal distribution sample, and p(Δx, Δy, Δz, Δm, Δn, Δp) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5). j The initial position and posture of the gastrointestinal motility capsule at the time is PA = (x0 + Δx, y0 + Δy, z0 + Δz, m0 + Δm, n0 + Δn, p0 + Δp), and S12 to S15 are repeated until the comparison result meets the preset conditions to obtain the time point T j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j =(x0+Δx, y0+Δy, z0+Δz, m0+Δm, n0+Δn, p0+Δp).

[0087] Specifically, in the embodiment of the present invention, S11: the terminal device is set at time point T j The initial position and posture of the gastrointestinal motility capsule at this time is PA=PA0=(x0, y0, z0, m0, n0, p0), for example, PA=PA0=(0, 0, 0, 0, 0).

[0088] S12: When the magnet is a spherical magnet, the terminal device j The initial position and posture PA0 of the gastrointestinal motility capsule and the position coordinates of the magnetic sensor i (a i ,b i ,c i ), calculate the time point T according to the magnetic dipole model formulas (8)-(13) j The theoretical value of the magnetic field strength B tij (B txij ,B tyij ,B tzij ), it can be understood that the position coordinates of any magnetic sensor i at each time point are the same,

[0089]

[0090]

[0091]

[0092]

[0093] m0 2 +n0 2 +p0 2 =1 (12)

[0094]

[0095] Among them, μ r is the relative magnetic permeability, μ0 is the vacuum magnetic permeability, M T To characterize the magnetic field strength constant of the magnet, (x0, y0, z0) is the time point T j The components of the initial position vector of the gastrointestinal motility capsule in the rectangular coordinate system on the x, y, and z axes at time point T, (m0, n0, p0) is j The components of the initial posture vector of the gastrointestinal motility capsule in the rectangular coordinate system on the x, y, and z axes.

[0096] S13: The terminal device compares the time point T using the least square method j The theoretical value of the magnetic field strength B tij With the processed intensity data D ijf, and get the comparison result.

[0097] S14: When the comparison result meets the preset conditions, that is, When the time point T j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j =PA0=(x0,y0,z0,m0,n0,p0), where ε is less than (1e-10), i∈(1,N), and N is a positive integer greater than or equal to 2.

[0098] S15: When the comparison result does not meet the preset condition, that is, When the update time point T j The initial position and posture of the gastrointestinal motility capsule at time T is: PA = PA0 + p, where p(Δx, Δy, Δz, Δm, Δn, Δp) is a normal distribution sample, and p(Δx, Δy, Δz, Δm, Δn, Δp) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5). j When the initial position and posture of the gastrointestinal motility capsule is PA = (x0 + Δx, y0 + Δy, z0 + Δz, m0 + Δm, n0 + Δn, p0 + Δp), repeat S12 to S15 until Get time point T j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j is (x0+Δx, y0+Δy, z0+Δz, m0+Δm, n0+Δn, p0+Δp), where ε is less than (1e-10).

[0099] Repeat S11 to S15 until all time points T are completed. j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract are determined respectively.

[0100] In some embodiments, the terminal device uses the processed intensity data D fij and the theoretical value of the intensity of the magnetic field B tij , through the positioning algorithm, determine the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j include:

[0101] S21: The terminal device sets the initial position and posture migration equation of the gastrointestinal motility capsule as PA j =RPA j-1+q, where q is (Δx, Δy, Δz, Δm, Δn, Δp), q is a normally distributed sample, and (Δx, Δy, Δz, Δm, Δn, Δp) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5);

[0102] S22: According to the formula PA jk =PA j +Q k , get the time point T j The possible initial position and posture information of N gastrointestinal motility capsules, where N is an integer between 50 and 5000, k∈(1,N), Q k is (Δx k ,Δy k ,Δz k ,Δm k ,Δn k ,Δp k ), Q k is a normally distributed sample, and (Δx k ,Δy k ,Δz k ,Δm k ,Δn k ,Δp k ) is between (0,0,0,0,0,0)-(0.5,0.5,0.5,0.5,0.5,0.5);

[0103] S23: When the magnet is a spherical magnet, according to the time point T j The position coordinates of the magnetic sensor i in the coordinate system (a i ,b i ,c i ) and time point T j The possible initial position and posture information PA of the N gastrointestinal motility capsules jk , calculate the time point T according to the magnetic dipole model formula j Each of the magnetic field strength theoretical values ​​B of the magnetic field tijk (B txijk ,B tyijk ,B tzijk );

[0104] S24: The time point T obtained in step S23 is j The N theoretical values ​​of magnetic field strength B under the possible positions and postures of the N gastrointestinal motility capsules tijk and the processed intensity data D fijSubtract the difference, take the reciprocal of the difference, take the logarithm of the reciprocal, and finally obtain the similarity value P of the possible initial position and posture information of the N gastrointestinal motility capsules and the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract k ;

[0105] S25: For the N similarities P obtained in S24 k Perform normalization to obtain N processed similarities P′ k ;

[0106] S26: Select M processed similarities P′ according to the following formula k , where M is an integer between 50 and 5000, and M and N may be the same or different.

[0107] P′1+P′2+…+P′ n >rand;

[0108] S27: Similarity P after M processing k 'The possible initial position and posture information PA of the N gastrointestinal motility capsules jk The mean value is calculated and the obtained mean value is used as the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j .

[0109] Specifically, in the embodiment, S21: the terminal device sets the initial position and posture migration equation of the gastrointestinal motility capsule as PA j =RPA j-1 +q, where q is (Δx, Δy, Δz, Δm, Δn, Δp), q is a normally distributed sample, and (Δx, Δy, Δz, Δm, Δn, Δp) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5).

[0110] S22: According to the formula PA jk =PA j +Q k , get the time point T j The possible initial position and posture information of N gastrointestinal motility capsules, where N is an integer between 50 and 5000, k∈(1,N), Q k is (Δx k ,Δy k ,Δz k ,Δm k ,Δn k ,Δp k ), Q k is a normally distributed sample, and (Δxk ,Δy k ,Δz k ,Δm k ,Δn k ,Δp k ) is between (0,0,0,0,0)-(0.5,0.5,0.5,0.5,0.5).

[0111] S23: When the magnet is a spherical magnet, according to the time point T j The position coordinates of the magnetic sensor i in the coordinate system (a i ,b i ,c i ) and time point T j The possible initial position and posture information PA of the N gastrointestinal motility capsules jk , calculate the time point T according to the following magnetic dipole model formulas (14) to (19): j Each of the magnetic field strength theoretical values ​​B of the magnetic field tijk (B txijk ,B tyijk ,B tzijk ),

[0112]

[0113]

[0114]

[0115]

[0116]

[0117] (m j-1 +Δm+Δm k ) 2 +(n j-1 +Δn+Δn k ) 2 +(p j-1 +Δp+Δp k ) 2 =1 (18)

[0118]

[0119] Among them, μ r is the relative magnetic permeability, μ0 is the vacuum magnetic permeability, M T It is a constant that characterizes the magnetic field strength of a magnet.

[0120] S24: The time point T obtained in step S23 is jThe N theoretical values ​​of magnetic field strength B under the possible positions and postures of the N gastrointestinal motility capsules tijk and the processed intensity data D fij Subtract the difference, take the reciprocal of the difference, take the logarithm of the reciprocal, and finally obtain the similarity value P of the possible initial position and posture information of the N gastrointestinal motility capsules and the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract k The similarity calculation method is not limited to the above method, and can also be a simple difference calculation, but the fundamental purpose is to calculate the theoretical value B of the magnetic field strength under the possible positions and postures of N gastrointestinal motility capsules. tijk With intensity data D fij The degree of approximation, the theoretical value of magnetic field strength B under the possible position and posture of a gastrointestinal motility capsule tijk With intensity data D fij The closer they are, the higher their similarity value P k The bigger.

[0121] S25: For the N similarities P obtained in S24 k Perform normalization to obtain N processed similarities P′ k .

[0122] S26: According to the following formula (20), select M processed similarities P′ k , where M is an integer between 50 and 5000, and M and N may be the same or different.

[0123] P′1+P′2+…+P′ n >rand (20).

[0124] S27: Similarity P after M processing k 'The possible initial position and posture information PA of the N gastrointestinal motility capsules jk (x j-1 +Δx+Δx k ,y j-1 +Δy+Δy k ,z j-1 +Δz+Δz k ,m j-1 +Δm+Δm k ,n j-1 +Δn+Δn k ,p j-1 +Δp+Δp k ) to calculate the mean value, and the obtained mean value is used as the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j .

[0125] Repeat steps S21 to S27 until all time points T are completed. j The corresponding position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract are determined respectively.

[0126] In some embodiments, the terminal device uses the processed intensity data D fij and the theoretical value of the intensity of the magnetic field B tij , through the positioning algorithm, determine the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j include:

[0127] S31: The terminal device is set at time point T j The initial position and posture of the gastrointestinal motility capsule at the time PA=PA0=(x0, y0, z0, θ0, φ0);

[0128] S32: When the magnet is a cylindrical magnet, the terminal device performs the following operations according to the time point T j The initial position and posture PA0 of the gastrointestinal motility capsule and the position information of the magnetic sensor i in the cylindrical coordinate system are (like Figure 8 As shown), the cylindrical model formula (7) is used to calculate the time point T j The theoretical value of the magnetic field strength B tij (B txij ,B tyij ,B tzij );

[0129] S33: The terminal device compares the time point T using the least square method j The theoretical value of the magnetic field strength B tij With the processed intensity data D ijf , get the comparison result;

[0130] S34: When the comparison result meets the preset condition, the time point T is obtained. j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j =PA0=(x0,y0,z0,θ 0, φ 0) ;

[0131] S35: When the comparison result does not meet the preset condition, update the time point T jThe initial position and posture of the gastrointestinal motility capsule at time T is: PA = PA0 + p, where p(Δx, Δy, Δz, Δθ, Δφ) is a normal distribution sample, and p(Δx, Δy, Δz, Δm, Δn, Δp) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5). j The initial position and posture of the gastrointestinal motility capsule is PA = (x0 + Δx, y0 + Δy, z0 + Δz, θ0 + Δθ, φ0 + Δφ), and S32 to S35 are repeated until the comparison result meets the preset conditions to obtain the time point T j The position and posture of the gastrointestinal motility capsule in the gastrointestinal tract during RPA j =(x0+Δx,y0+Δy,z0+Δz,θ0+Δθ,φ0+Δφ).

[0132] In some embodiments, the terminal device uses the processed intensity data D fij and the theoretical value of the intensity of the magnetic field B tij , through the positioning algorithm, determine the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j include:

[0133] S41: The terminal device sets the initial position and posture migration equation of the gastrointestinal motility capsule as PA j =RPA j-1 +q, where q is (Δx, Δy, Δz, Δθ, Δφ), q is a normally distributed sample, and (Δx, Δy, Δz, Δθ, Δφ) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5);

[0134] S42: According to the formula PA jk =PA j +Q k , get the time point T j The possible initial position and posture information of N gastrointestinal motility capsules, where N is an integer between 50 and 5000, k∈(1,N), Q k is (Δx k ,Δy k ,Δz k ,Δθ,Δφ),Q k is a normally distributed sample, and (Δx k ,Δy k ,Δz k ,Δθ k ,Δφ k) is between (0,0,0,0,0)-(0.5,0.5,0.5,0.5,0.5);

[0135] S43: When the magnet is a cylindrical magnet, according to the time point T j The position information of the magnetic sensor i in the cylindrical coordinate system is and time point T j The possible initial position and posture information PA of the N gastrointestinal motility capsules jk , calculate the time point T according to the cylindrical model formula (7) j Each of the magnetic field strength theoretical values ​​B of the magnetic field tijk (B txijk ,B tyijk ,B tzijk );

[0136] S44: The time point T obtained in step S43 is j The N theoretical values ​​of magnetic field strength B under the possible positions and postures of the N gastrointestinal motility capsules tijk and the processed intensity data D fij Subtract the difference, take the reciprocal of the difference, take the logarithm of the reciprocal, and finally obtain the similarity value P of the possible initial position and posture information of the N gastrointestinal motility capsules and the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract k ;

[0137] S45: The N similarities P obtained in S44 are k Perform normalization to obtain N processed similarities P′ k ;

[0138] S46: Select M processed similarities P′ according to the following formula k , where M is an integer between 50 and 5000, and M and N may be the same or different.

[0139] P′1+P′2+…+P′ n >rand;

[0140] S47: similarity P of M processed k 'The possible initial position and posture information PA of the N gastrointestinal motility capsules jk The mean value is calculated and the obtained mean value is used as the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j .

[0141] In some embodiments, determining the time point T jThe position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal tract can also be directly obtained by using the similarity P k The P with the largest median value k The corresponding possible position and posture information of the gastrointestinal motility capsule 1 is taken as the time point T j The position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal cavity can also be used with the similarity P k The P with the largest median value k All P whose difference is within a certain range k The corresponding average of the possible position and posture information of the gastrointestinal motility capsule 1 is taken as the time point T j The position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal cavity.

[0142] The parameters such as the normal distribution sample Q, the number of samples N, the magnetic sensor noise covariance matrix R, etc. in the method for calculating the position and posture information of the gastrointestinal motility capsule 1 in the embodiment of the present invention are adjustable. The above parameters can be dynamically adjusted according to the moving range of the gastrointestinal motility capsule 1, the order of magnitude of the intensity data of the magnetic field, and the shape and size of the magnet in the gastrointestinal motility capsule 1 to achieve the best calculation result.

[0143] In some embodiments, the terminal device 3 is used to determine the movement frequency of the gastrointestinal motility capsule 1 according to the position and posture information of the gastrointestinal motility capsule 1, and obtaining the gastrointestinal motility frequency includes: according to all time points T j The position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal cavity are respectively obtained to obtain a position curve and a posture curve; the position curve and / or the posture curve are respectively segmented to obtain multiple position sub-curves and / or multiple posture sub-curves; the multiple position sub-curves and / or the multiple posture sub-curves are respectively subjected to Fourier transformation to obtain multiple frequency spectra; the movement frequency of the gastrointestinal motility capsule 1 is determined according to the multiple frequency spectra to obtain the gastrointestinal motility frequency. Specifically, according to all time points T jThe position and posture information of the gastrointestinal motility capsule 1 in the gastrointestinal cavity are respectively obtained to obtain a position curve and a posture curve. The position curve and the posture curve are first low-pass filtered, and then the position curve and / or the posture curve are segmented according to the magnetic sensor i data curve at the place where the magnetic field intensity changes significantly, and multiple position sub-curves and / or multiple posture sub-curves are obtained respectively. In some embodiments, the position curve and / or the posture curve can also be evenly divided into a preset number of sub-curves to obtain multiple position sub-curves and / or multiple posture sub-curves. The preset number can be set according to the time resolution and frequency accuracy requirements, such as 200 or 300. Fourier transform is performed on the multiple position sub-curves and / or the multiple posture sub-curves to obtain a corresponding number of spectrograms, the maximum amplitude in each spectrogram corresponding to the position sub-curve is obtained, and a time-frequency curve is drawn. The peristaltic frequency of the stomach or intestine is obtained according to the time-frequency curve; the maximum amplitude in each spectrogram corresponding to the posture sub-curve can also be obtained, and a time-frequency curve is drawn. The peristaltic frequency of the stomach or intestine is obtained according to the time-frequency curve.

[0144] In some embodiments, the frequency can be obtained by taking the inverse of the time difference between the peaks of the x-axis, y-axis or z-axis data curve of the magnetic sensor i, and the frequency is used as the movement frequency of the gastrointestinal motility capsule 1 to obtain the gastrointestinal motility frequency.

[0145] In some embodiments, the magnetic sensor data curve can be fitted by a data approximate fitting method, and the frequency can be obtained according to the time difference between its peak values, and the frequency can be used as the movement frequency of the gastrointestinal motility capsule 1 to obtain the gastrointestinal motility frequency.

[0146] In some embodiments, further according to each time point T obtained by calculation j The movement trajectory of the gastrointestinal motility capsule 1 in the gastrointestinal tract is obtained according to the position information of the gastrointestinal motility capsule 1; and the movement trajectory of the gastrointestinal motility capsule 1 in the gastrointestinal tract is obtained according to the calculated time points T j The direction of the gastrointestinal motility capsule 1 in the gastrointestinal tract is obtained based on the corresponding posture information of the gastrointestinal motility capsule 1; the position of the gastrointestinal motility capsule 1 in the gastrointestinal tract is determined according to the calculated movement frequency of the gastrointestinal motility capsule 1, and then it is determined whether the peristaltic frequency of the position is abnormal; based on the above results, an inspection report can be output for the doctor's reference.

[0147] The calculation of the position and posture information of the gastrointestinal motility capsule 1 in the embodiment of the present invention can be a centralized calculation process after the examination is completed, and the doctor can output the final examination report; it can also be a real-time calculation process during the examination, which can display the position, posture, trajectory and frequency information of the gastrointestinal motility capsule 1 in real time, so that the doctor can call it at any time. The data processing and the calculation of the position and posture information of the capsule can be performed in the terminal device 3. In some embodiments, the data processing and the calculation of the position and posture information of the capsule can also be performed in the controller of the data recorder.

[0148] The above describes in detail the optional implementation modes of the embodiments of the present invention in combination with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0149] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0150] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A positioning system for a gastrointestinal motility capsule, characterized in that: The gastrointestinal motility capsule comprises a shell and a magnet, wherein the magnet is fixed in the shell by a fixing structure, the magnet is a permanent magnet or an electromagnet, and the magnet is cylindrical in shape, and is used to generate a changing magnetic field when the gastrointestinal motility capsule moves in the digestive tract of the subject. The positioning system includes a positioning device and a terminal device, wherein the positioning device and the terminal device are connected via a communication link; the positioning device includes at least two magnetic sensors i, i∈(1,N), N is a positive integer greater than or equal to 2, and each magnetic sensor i is used to collect the jth time point T j The intensity data of the magnetic field D ij , j∈(1,N), N is a positive integer greater than or equal to 1, the positioning device converts the intensity data D ij Sending to the terminal device via the communication link; The terminal device is used to ij Determine the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j , exercise frequency; Wherein, the terminal device is used to ij Determine the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j include: S40: The terminal device processes the intensity data D ij Perform preprocessing to obtain the processed intensity data D fij ; S41: The terminal device sets the initial position and posture migration equation of the gastrointestinal motility capsule as PA j =RPA j-1 +q, where q is (Δx, Δy, Δz, Δθ, Δφ), q is a normally distributed sample, and (Δx, Δy, Δz, Δθ, Δφ) is between (0, 0, 0, 0, 0) and (0.5, 0.5, 0.5, 0.5, 0.5); S42: According to the formula PA jk =PA j +Q k , get the time point T j The possible initial position and posture information of N gastrointestinal motility capsules, where N is an integer between 50 and 5000, k∈(1,N), Q k is (Δx k ,Δy k ,Δz k ,Δθ,Δφ),Q k is a normally distributed sample, and (Δx k ,Δy k ,Δz k ,Δθ k ,Δφ k ) is between (0,0,0,0,0)-(0.5,0.5,0.5,0.5,0.5); S43: According to time point T j The position information of the magnetic sensor i in the cylindrical coordinate system is and time point T j The possible initial position and posture information PA of the N gastrointestinal motility capsules jk , calculate the time point T according to the cylindrical model formula j Each of the magnetic field strength theoretical values ​​B of the magnetic field tijk (B txijk ,B tyijk ,B tzijk ); S44: The time point T obtained in step S43 is j The N theoretical values ​​of magnetic field strength B under the possible positions and postures of the N gastrointestinal motility capsules tijk and the processed intensity data D fij Subtract the difference, take the reciprocal of the difference, take the logarithm of the reciprocal, and finally obtain the similarity value P of the possible initial position and posture information of the N gastrointestinal motility capsules and the position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract k ; S45: The N similarities P obtained in S44 k Perform normalization to obtain N processed similarities P′ k ; S46: Select M processed similarities P′ according to the following formula k , where M is an integer between 50 and 5000, and M and N may be the same or different. P′1+P′2+…+P′ n >rand, where rand is the abbreviation of random, and rand refers to a random number; S47: similarity P of M processed k ′ The possible initial position and posture information PA of the N gastrointestinal motility capsules corresponding to jk The mean value is calculated and the mean value is taken as the time point T j The position and posture information of the gastrointestinal motility capsule in the gastrointestinal tract RPA j .

2. The positioning system according to claim 1, characterized in that: The terminal device is also used to determine the peristaltic frequency of the stomach and / or intestines based on the position and posture information and the movement frequency.

3. The positioning system according to claim 1, characterized in that: The positioning system also includes a reference sensor, which is used to collect the time point T j The reference intensity data D of the positioning device affected by movement, angle and geomagnetism rj .

4. The positioning system according to claim 1, characterized in that: The positioning device also includes a first PCB circuit board and a main control board. The first PCB circuit board is electrically connected to the main control board, and all the magnetic sensors i are arranged on the first PCB circuit board.

5. The positioning system according to claim 4, characterized in that: The positioning device also includes a belt that can be worn by the subject, and the first PCB circuit board and the main control board are arranged on the wearable belt, and the wearable belt is used to fix the first PCB circuit board and the main control board on the subject.

6. The positioning system according to claim 1, characterized in that: The number of the magnetic sensors is 4 to 25, and the distance between two adjacent magnetic sensors i is greater than or equal to 1 cm and less than or equal to 5 cm; and / or The gastrointestinal motility capsule further includes a camera module and a data transceiver module, wherein the camera module and the data transceiver module are respectively arranged in the shell; and / or When the magnet is a permanent magnet, the weight of the magnet is less than or equal to 10g; and / or The length of the magnet is less than or equal to 20 mm, and the diameter of the magnet is less than or equal to 10 mm.

7. The positioning system according to claim 1, characterized in that: The positioning device includes at least two second PCB circuit boards and a main control board, each of the second PCB circuit boards is electrically connected to the main control board, and one or more magnetic sensors i are arranged on each of the second PCB circuit boards.

8. The positioning system according to claim 7, characterized in that: The positioning device comprises at least two adhesive parts, The adhesive portion is connected to the second PCB circuit board, and the second PCB circuit board is fixed to the subject through the adhesive portion.

9. The positioning system according to claim 4 or 8, characterized in that: The positioning device also includes a data storage device, which is electrically connected to the main control board and is used to store the intensity data D of the magnetic field. ij .

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