Positioning method for capsule endoscope based on magnet

Abstract

The present disclosure describes a positioning method for positioning a capsule endoscope based on a magnet, wherein the capsule endoscope is magnetically controlled by a magnetic control device, and the positioning method includes: an acquisition process, wherein the first magnetic induction intensity from the magnetic control device sensed by the magnetic sensor module when the magnetic control device is located at a predetermined position, and the second magnetic induction intensity from the magnetic control device and the first magnet sensed by the magnetic sensor module when the capsule endoscope is located between the magnetic control device and the magnetic sensor module and the magnetic control device is located at a predetermined position; and a positioning process, wherein the third magnetic induction intensity from the capsule endoscope sensed by the magnetic sensor module is calculated based on the first magnetic induction intensity and the second magnetic induction intensity, and the position of the first magnet of the capsule endoscope relative to the magnetic sensor module is calculated according to the third magnetic induction intensity. In this way, the interference of the magnetic field generated by the magnetic control device can be eliminated, and the positioning position of the capsule endoscope in the tissue cavity can be accurately measured.

Description

[0001] This application is a divisional application of a patent application with an application date of October 23, 2019, application number 201911013320X, and invention name "Magnetic Positioning System and Magnetic Positioning Method for Capsule Endoscope". Technical Field

[0002] The present disclosure generally relates to a positioning method for a capsule endoscope based on magnets. Background Art

[0003] With the development of modern medical technology, gastric lesions (such as polyps on the gastric wall) can be examined by swallowing a capsule endoscope, which can help doctors obtain accurate information about the lesion area of ​​the stomach to assist doctors in diagnosing and treating patients. Such a capsule endoscope usually has a magnet that can be acted upon by magnetic force, a camera device, and a wireless transmission device that transmits the collected images to the outside. Specifically, a doctor, nurse, or other operator controls an external magnetic control device to magnetically guide the capsule endoscope located in the stomach so that the capsule endoscope moves in the stomach and collects images of specific locations in the stomach (such as lesion areas), and then transmits the collected images to an external display device by wireless transmission or the like, through which doctors and others can examine and diagnose the patient's stomach.

[0004] When the capsule endoscope is used to examine the stomach, in order to better control the capsule endoscope located in the stomach, the doctor needs to know the specific position of the capsule endoscope in the stomach. In the prior art, a magnetic sensor or a magnetic sensor array is usually used to sense the magnetic field strength of the capsule endoscope to sense the position of the capsule endoscope.

[0005] However, in the above-mentioned prior art, the magnetic field strength sensed by the magnetic sensor or magnetic sensor array is susceptible to magnetic interference from the magnetic control device, resulting in the inability to accurately position the capsule endoscope. To this end, the present disclosure proposes a magnetic positioning system for a capsule endoscope that can effectively eliminate the magnetic interference of the magnetic control device and accurately position the capsule endoscope located in the tissue cavity. Summary of the invention

[0006] The present disclosure is proposed in view of the above-mentioned prior art conditions, and its purpose is to provide a magnetic positioning system for a capsule endoscope that can effectively eliminate the magnetic interference of a magnetic control device and accurately position the capsule endoscope located in a tissue cavity.

[0007] To this end, the first aspect of the present disclosure provides a magnetic positioning system for a capsule endoscope, comprising: a capsule endoscope, which is introduced into a tissue cavity of a subject, the capsule endoscope having a first magnet; a magnetic control device, which magnetically controls the capsule endoscope; a magnetic sensor module, which includes at least one magnetic sensor; and a processing device, which obtains a first magnetic induction intensity from the magnetic control device sensed by the magnetic sensor module when the magnetic control device is located at a predetermined position, and a second magnetic induction intensity from the magnetic control device and the first magnet sensed by the magnetic sensor module when the subject is located between the magnetic control device and the magnetic sensor module and the magnetic control device is located at the predetermined position, calculates a third magnetic induction intensity generated by the capsule endoscope sensed by the magnetic sensor module based on the first magnetic induction intensity and the second magnetic induction intensity, and calculates the position of the first magnet of the capsule endoscope relative to the magnetic sensor module based on the third magnetic induction intensity.

[0008] In the first aspect of the present disclosure, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module, and the third magnetic induction intensity generated by the capsule endoscope is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet in the capsule endoscope relative to the magnetic sensor module. In this case, the interference of the magnetic field generated by the magnetic control device can be effectively eliminated, so that the positioning position of the capsule endoscope in the tissue cavity can be accurately measured.

[0009] In addition, in the magnetic positioning system of the capsule endoscope according to the first aspect of the present disclosure, optionally, the capsule endoscope is moved in the tissue cavity by rotating the magnetic control device and moving the subject, thereby conveniently controlling the movement of the capsule endoscope.

[0010] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the processing device calculates the fourth magnetic induction intensity from the first magnet sensed by each magnetic sensor of the magnetic sensor module when the capsule endoscope is at the preset coordinates based on the magnetic dipole model of the first magnet and the preset coordinates of the capsule endoscope in the tissue cavity, compares the third magnetic induction intensity with the fourth magnetic induction intensity to correct the preset coordinates, and makes the preset coordinates within a predetermined error the positioning position of the capsule endoscope. In this way, the capsule endoscope can be positioned more accurately.

[0011] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the magnetic sensor module includes a three-axis magnetic sensor, two two-axis magnetic sensors or three one-axis magnetic sensors, or a combination thereof. In this case, the composition of the magnetic sensor module is selected according to the actual situation, which can effectively avoid magnetic saturation of the magnetic sensor.

[0012] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the magnetic sensor module is configured to detect the magnetic field of the capsule endoscope in three dimensions, thereby more accurately measuring the magnetic field strength generated by the capsule endoscope and the magnetic control device.

[0013] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, at least one magnetic sensor in the magnetic sensor module is configured to at least detect the magnetic induction intensity within a predetermined distance from the predetermined position. Thus, the magnetic sensor module can more accurately measure the magnetic induction intensity of the magnetic control device at the predetermined position.

[0014] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the magnetic control device includes a first induction coil and a second magnet, and the first induction coil is arranged on the same side as the second magnet, thereby being able to more accurately control the movement of the capsule endoscope.

[0015] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, the magnetic control device includes a second induction coil arranged on a different side from the first induction coil. In this case, magnetic forces can be applied to different sides of the capsule endoscope, so that the capsule endoscope can be controlled to move more stably.

[0016] In addition, in the magnetic positioning system of the capsule endoscope involved in the first aspect of the present disclosure, optionally, it also includes an examination bed, and the magnetic sensor module is arranged on a bracket separated from the examination bed, and when performing detection, the relative position of the magnetic sensor module and the magnetic control device remains unchanged, and the subject moves relative to the magnetic sensor and the magnetic control device. In this way, the magnetic field strength of the magnetic control device at a predetermined position can be measured more accurately.

[0017] According to a second aspect of the present disclosure, there is provided a method for magnetic positioning of a capsule endoscope, comprising: a preparation step of introducing a capsule endoscope having a first magnet into a subject located between a magnetic control device and a magnetic sensor module, wherein the magnetic sensor module comprises at least one magnetic sensor; and an acquisition step of acquiring a first magnetic induction intensity from the magnetic control device sensed by the magnetic sensor module when the magnetic control device is located at a predetermined position, and a second magnetic induction intensity from the magnetic control device and the first magnet sensed by the magnetic sensor module when the subject is located between the magnetic control device and the magnetic sensor module and the magnetic control device is located at the predetermined position; and a positioning step of calculating a third magnetic induction intensity generated by the capsule endoscope sensed by the magnetic sensor module based on the first magnetic induction intensity and the second magnetic induction intensity, and calculating the position of the first magnet of the capsule endoscope relative to the magnetic sensor module according to the third magnetic induction intensity.

[0018] In the second aspect of the present disclosure, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module, and the third magnetic induction intensity generated by the capsule endoscope is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet in the capsule endoscope relative to the magnetic sensor module. In this case, the interference of the magnetic field generated by the magnetic control device can be effectively eliminated, so that the positioning position of the capsule endoscope in the tissue cavity can be accurately measured.

[0019] In addition, in the magnetic positioning method of the capsule endoscope involved in the second aspect of the present disclosure, optionally, in the positioning process, based on the magnetic dipole model of the first magnet and the preset coordinates of the capsule endoscope in the tissue cavity, the fourth magnetic induction intensity from the first magnet sensed by each magnetic sensor of the magnetic sensor module when the capsule endoscope is at the preset coordinates is calculated, the third magnetic induction intensity is compared with the fourth magnetic induction intensity to correct the preset coordinates, and the preset coordinates within a predetermined error are set as the positioning position of the capsule endoscope. In this way, the capsule endoscope can be positioned more accurately.

[0020] In addition, in the magnetic positioning method of the capsule endoscope involved in the second aspect of the present disclosure, optionally, the magnetic sensor module includes a three-axis magnetic sensor, two two-axis magnetic sensors or three one-axis magnetic sensors, or a combination thereof. In this case, the composition of the magnetic sensor module is selected according to the actual situation, which can effectively avoid magnetic saturation of the magnetic sensor.

[0021] In addition, in the magnetic positioning method of the capsule endoscope involved in the second aspect of the present disclosure, optionally, the magnetic sensor module is configured to detect the magnetic field of the capsule endoscope in three-dimensional directions, thereby more accurately measuring the magnetic field strength generated by the capsule endoscope and the magnetic control device.

[0022] In addition, in the magnetic positioning method of the capsule endoscope involved in the second aspect of the present disclosure, optionally, an examination bed is also included, and the magnetic sensor module is arranged on a bracket separated from the examination bed, and during detection, the relative position of the magnetic sensor module and the magnetic control device remains unchanged, and the subject moves relative to the magnetic sensor and the magnetic control device. In this way, the magnetic field strength of the magnetic control device at a predetermined position can be measured more accurately.

[0023] In the second aspect of the present disclosure, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module, and the third magnetic induction intensity generated by the capsule endoscope is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet in the capsule endoscope relative to the magnetic sensor module. In this case, the interference of the magnetic field generated by the magnetic control device can be eliminated, and the positioning position of the capsule endoscope in the tissue cavity can be accurately measured.

[0024] In the present disclosure, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module, and the third magnetic induction intensity generated by the capsule endoscope is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet in the capsule endoscope relative to the magnetic sensor module. In this case, the interference of the magnetic field generated by the magnetic control device can be eliminated, and the positioning position of the capsule endoscope in the tissue cavity can be accurately measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Embodiments of the present disclosure will now be explained in further detail, by way of example only, with reference to the accompanying drawings, in which:

[0026] Figure 1 is a schematic diagram showing a magnetic positioning system of a capsule endoscope according to an embodiment of the present disclosure.

[0027] Figure 2 2 is a schematic diagram showing the appearance of a capsule endoscope according to an embodiment of the present disclosure.

[0028] Figure 3 is another schematic diagram showing a magnetron device according to an embodiment of the present disclosure.

[0029] Figure 4 It is a schematic diagram showing the magnetic control device involved in the embodiment of the present disclosure performing magnetic force guidance on the capsule endoscope.

[0030] Figure 5 Detailed description is a flowchart showing a method for magnetic positioning of a capsule endoscope according to an embodiment of the present disclosure.

[0031] Figure 6 is a schematic diagram showing that the magnetic sensor module involved in the embodiment of the present disclosure locates the capsule endoscope by detecting the magnetic induction intensity of the magnetic control device and the capsule endoscope.

[0032] Explanation of symbols:

[0033] 1…magnetic positioning system, 2…object, 3…tissue cavity, 10…capsule endoscope, 11…first magnet, 12…camera, 13…transmitting antenna, 14…circuit assembly, 15…power supply, 20…magnetic control device, 21…second magnet, 22…first induction coil, 23…second induction coil, 24…third induction coil, 30…examination bed, 40…magnetic sensor module, 50…processing device, 60…communication device, 70…operating device, 400…magnetic sensor array, 401…magnetic sensor, L…magnetic axis. DETAILED DESCRIPTION

[0034] Hereinafter, the preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components or the shapes of the components may be different from the actual ones.

[0035] Figure 1 2 is a schematic diagram showing a magnetic positioning system 1 of a capsule endoscope according to an embodiment of the present disclosure. Figure 2 Schematic diagram showing the appearance of a capsule endoscope according to an embodiment of the present disclosure. Figure 3 is another schematic diagram showing a magnetron device according to an embodiment of the present disclosure.

[0036] The magnetic positioning system 1 of the capsule endoscope involved in this embodiment may include a capsule endoscope 10 located in a tissue cavity 3 of a subject 2, a magnetic control device 20 for magnetically controlling the capsule endoscope 10, a magnetic sensor module 40 for measuring the magnetic induction intensity of the magnetic control device 20 and / or the capsule endoscope 10, and a processing device 50 for processing the measured magnetic induction intensity and determining the positioning position of the capsule endoscope 10 in the tissue cavity 3 (see Figure 1 ).

[0037] In addition, in the present embodiment, the magnetic positioning system 1 of the capsule endoscope may further include an examination bed 30 carrying the subject 2, a communication device 60 for wirelessly communicating with the capsule endoscope 10 in the subject 2, an operating device 70 for controlling the magnetic control device 20 and the examination bed 30, a storage unit (not shown) for storing various information such as in-vivo images of the subject 2, and a display device 80 (see FIG. 1 ) for displaying various information such as in-vivo images of the subject 2 collected by the capsule endoscope 10. Figure 1 ).

[0038] The capsule endoscope 10 involved in this embodiment is a medical device that is formed to be introduced into the tissue cavity 3 of the subject 2 and is shaped like a capsule. From the appearance, the capsule endoscope 10 can be in the form of a capsule-shaped shell (see Figure 2 ). The capsule-shaped shell of the capsule endoscope 10 may be a capsule-shaped shell of a size that can be introduced into the interior of the subject 2. The openings at both ends of the capsule-shaped shell are plugged by a dome-shaped shell in a dome shape, thereby maintaining a liquid-tight state. The dome-shaped shell is a transparent optical dome that transmits light of a specified wavelength band (e.g., visible light). On the other hand, the cylindrical shell is a substantially opaque shell.

[0039] In this embodiment, the tissue cavity 3 may be a digestive cavity such as the stomach, esophagus, large intestine, colon, small intestine, etc. In addition, in some examples, the tissue cavity 3 may also be a non-digestive cavity such as the abdominal cavity, thoracic cavity, etc. For a digestive cavity such as the stomach, esophagus, large intestine, etc., the capsule endoscope 10 may enter the digestive cavity by eating, and for a non-digestive cavity, a minimally invasive opening may be made through clinical surgery to place the capsule endoscope 10 into the non-digestive cavity.

[0040] In this embodiment, the capsule endoscope 10 includes at least a magnet (first magnet 11) and a camera 12 for taking pictures in a tissue cavity (e.g., stomach) 3. The capsule endoscope 10 takes pictures of the in-vivo images of the subject 2 through the camera 12. In addition, a transmitting antenna 13 for wireless transmission with the communication device 60, a circuit component 14, and a power supply 15 are arranged inside the capsule endoscope 10 (see Figure 3 ).

[0041] In this embodiment, the capsule endoscope 10 can move in the space in the tissue cavity 3 under the action of the variable magnetic field generated by the magnetic control device 20. On the other hand, since the capsule endoscope 10 needs to move in the tissue cavity 3 with a larger space such as the stomach and large intestine to photograph the lesions that may exist in the tissue cavity 3, it is particularly important to accurately locate the position of the capsule endoscope 10 in the tissue cavity 3, plan the path of the capsule endoscope 10, and photograph at different positions of the tissue cavity 3.

[0042] In this embodiment, the magnetic positioning system 1 may include a capsule endoscope 10, a magnetic control device 20, a magnetic sensor module 40, and a processing module 50. The capsule endoscope 10 may be introduced into the tissue cavity 3 of the subject 2, and the capsule endoscope 10 may have a first magnet 11 that can be acted upon by a magnetic force. The magnetic control device 20 may be a device that can generate a magnetic field, and the magnetic control device 20 may magnetically control the capsule endoscope 10 by magnetically controlling the first magnet 11. The magnetic sensor module 40 may include at least one magnetic sensor 401 (see Figure 5 ), the relative position of the magnetic sensor module 40 to the magnetic control device 20 remains unchanged. The processing device 50 can be used to calculate the position of the first magnet 11 of the capsule endoscope 10 relative to the magnetic sensor module 40. Specifically, the processing device 50 can obtain the first magnetic induction intensity from the magnetic control device 20 sensed by the magnetic sensor module 40 when the magnetic control device 20 is located at the predetermined position, and the second magnetic induction intensity from the magnetic control device 20 and the first magnet 11 sensed by the magnetic sensor module 40 when the subject 2 is located between the magnetic control device 20 and the magnetic sensor module 40 and the magnetic control device 20 is located at the predetermined position, calculate the third magnetic induction intensity generated by the capsule endoscope 10 sensed by the magnetic sensor module 40 based on the first magnetic induction intensity and the second magnetic induction intensity, and calculate the position of the first magnet 11 of the capsule endoscope 10 relative to the magnetic sensor module 40 according to the third magnetic induction intensity.

[0043] In this embodiment, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module 40, and the third magnetic induction intensity generated by the capsule endoscope 10 is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet 11 in the capsule endoscope 10 relative to the magnetic sensor module 40. In this case, the interference of the magnetic field generated by the magnetic control device 20 can be effectively eliminated, and the positioning position of the capsule endoscope 10 in the tissue cavity 3 can be accurately measured.

[0044] Figure 4 1 is a schematic diagram showing that the magnetic control device 20 according to the embodiment of the present disclosure magnetically guides the capsule endoscope 10 .

[0045] In this embodiment, the magnetic control device 20 may include a first induction coil 22 and a second magnet 21. The first induction coil 22 and the second magnet 21 may be arranged on the same side (see Figure 4 In this case, by arranging the first induction coil 22 and the second magnet 21 on the same side, the magnetic field force generated by the first induction coil 22 and the second magnet 21 can be more concentrated, so that the capsule endoscope 10 can be controlled more accurately.

[0046] In some examples, the second magnet 21 may be a sphere. In this case, by deflecting the sphere to change the polarity of the second magnet 21, the capsule endoscope 10 can be driven to deflect, so that the capsule endoscope 10 can acquire images at different deflection angles. In other examples, the second magnet 21 may also be an ellipsoid or a cylinder, etc. In some examples, when the second magnet 21 is a cylinder, the second magnet 21 is arranged around the induction coil in a manner that it can rotate around a point that intersects the magnetic axis of the induction coil. Specifically, when the second magnet 21 is a cylinder, the space size of the hollow structure formed by the first induction coil 22 allows the second magnet 21 to rotate freely in the hollow structure.

[0047] In addition, in some examples, the magnetic control device 20 may further include a second induction coil 23 arranged on a different side from the first induction coil 22. In some examples, preferably, the first induction coil 22 and the second induction coil 23 may be arranged on two opposite sides of the subject 2. In this case, by arranging the induction coils on the opposite sides, the magnetic control device 20 can apply magnetic forces on the opposite sides of the capsule endoscope 10, so that the capsule endoscope 10 can be controlled to move more stably.

[0048] In addition, in this embodiment, the magnetic control device 20 may further include an induction coil (third induction coil 24). In some examples, the third induction coil 24 may generate a magnetic force acting on the capsule endoscope 10 to fix the capsule endoscope 10 at a predetermined position in the tissue cavity 3. In other words, the third induction coil 24 may play a role in fixing the position of the capsule endoscope 10.

[0049] In this embodiment, the diameter of the third induction coil 24 can be smaller than the diameter of the first induction coil 22 and the diameter of the second induction coil 23. In some examples, the diameter of the third induction coil 24 can be generally set to 1-15 cm, and the diameters of the first induction coil 22 and the second induction coil 23 can be set to 20-45 cm. In some examples, the diameter of the third induction coil 24 can be set to 5 cm, 8 cm, 10 cm, or 12 cm, etc. In some examples, the diameters of the first induction coil 22 and the second induction coil 23 can be set to 20 cm, 24 cm, 28 cm, 42 cm, etc., respectively. In this case, relative to the smaller capsule endoscope 10, when the capsule endoscope 10 is within the range of the first induction coil 22 and the second induction coil 23, the third induction coil 24 can be used to achieve more accurate positioning of the capsule endoscope 10 in the tissue cavity 3.

[0050] In addition, in this embodiment, the third induction coil 24 and the second induction coil 23 can be arranged on the same side. In some examples, the third induction coil 24 and the second induction coil 23 can be arranged on the side close to the ground. In this case, the combined force of the gravity of the capsule endoscope 10 itself and the magnetic force generated by the third induction coil 24 and the second induction coil 23 can more easily balance the magnetic field force generated by the first induction coil 22 and the second magnet 21 located on the opposite side of the second induction coil 23.

[0051] In addition, in some examples, the size of the variable magnetic field can be controlled by changing the current of the first induction coil 22, and the direction of the variable magnetic field can be controlled by changing the relative position of the first induction coil 22 relative to the first magnet 11. In some examples, the magnetic field strength of the variable magnetic field can be increased by increasing the current of the first induction coil 22, and the magnetic field strength of the variable magnetic field can be reduced by reducing the current of the first induction coil 22. In some examples, the first induction coil 22 can be brought close to the first magnet 11 to increase the magnetic field strength of the variable magnetic field, and the first induction coil 22 can be moved away from the first magnet 11 to reduce the magnetic field strength of the variable magnetic field. In addition, in some examples, the relative position of the first induction coil 22 relative to the first magnet 11 can be changed by moving the first induction coil 22. In other examples, the relative position of the first induction coil 22 relative to the first magnet 11 can also be changed by moving the position of the subject 2.

[0052] In addition, in some examples, the polarity of the magnetic field generated by the first induction coil 22 can be changed by changing the current direction of the first induction coil 22. In some examples, by passing a forward current through the first induction coil 22, the first induction coil 22 can generate an upward magnetic force on the capsule endoscope 10; by passing a reverse current through the first induction coil 22, the first induction coil 22 can generate a downward magnetic force on the capsule endoscope 10.

[0053] In some examples, the capsule endoscope 10 is moved in the tissue cavity 3 by rotating the magnetic control device 20 and moving the subject 2 .

[0054] Specifically, refer to Figure 4, the capsule endoscope 10 can be moved in the tissue cavity 3 by rotating the second magnet 21 (as shown in the figure, it is a cylinder, and its polarity is arranged so that one end (upper end) in the vertical direction is the N pole and the other end (lower end) is the S pole) in the magnetic control device 20. On the other hand, by changing one or both of the current magnitude and direction of the first induction coil 22 and the second induction coil 23, the magnitude of the variable magnetic field can be changed to make the capsule endoscope 10 move in the tissue cavity 3. And by rotating the second magnet 21, changing the current magnitude and direction of the first induction coil 22 and the second induction coil 23, the capsule endoscope 10 can be moved in the tissue cavity 3.

[0055] In addition, in this embodiment, the magnetic positioning system 1 of the capsule endoscope 10 may further include an examination bed 30, and the magnetic sensor module 40 may be disposed on a bracket 31 separated from the examination bed 30. When the subject 2 is examined, the relative position of the magnetic sensor module 40 and the magnetic control device 20 may remain unchanged, and the subject 2 may be moved relative to the magnetic sensor module 40 and the magnetic control device 20 by moving the examination bed 30. Thus, the magnetic sensor module 40 can more accurately measure the magnetic field strength of the magnetic control device 20 at a predetermined position, and the structure of the magnetic control device 20 can also be simplified to reduce the connection relationship and coupling relationship of the components in the magnetic control device 20 (i.e., the first magnet 11, the first induction coil 22, the second induction coil 23, etc.).

[0056] In addition, in some examples, the relative position between the examination bed 30 and the ground can remain unchanged, and the movement of the capsule endoscope 10 in the tissue cavity 3 is controlled by moving the magnetic control device 20 and the magnetic sensor module 40. In this way, the user experience can be improved, and the shaking of the capsule endoscope 10 in the body caused by moving the examination bed 30 can be effectively avoided.

[0057] In addition, in some examples, the examination bed 30 and the magnetic control device 20 can move simultaneously to control the capsule endoscope 10. In some examples, the examination bed 30 can move in the X-axis and Y-axis directions parallel to the horizontal plane, and move the magnetic control device 20 and the magnetic sensor module 40 in the Z-axis direction perpendicular to the horizontal plane.

[0058] Specifically, the relative positions of the geometric centers of the first magnet 11 and the first induction coil 22 and the second induction coil 23 in the magnetron device 20 remain unchanged. Therefore, when the first magnet 11 is rotated, the first magnet 11 will always return to the initial position after periodic movement. Figure 4We can know that when the magnetic control device 20 is located at the predetermined position of Figure (a), the capsule endoscope 10 is located at the fundus of the tissue cavity 3 (the stomach as shown in the figure) and stands vertically on the magnetic axis L (i.e., the P1 position); by rotating the direction of the magnetic pole N / S of the first magnet 11, adjusting the current and direction of the first induction coil 22 and the second induction coil 23, or one or more of the above, the capsule endoscope 10 can be moved in the tissue cavity 3 to the P2 position as shown in Figure (b) to shoot the tissue cavity 3; finally, by rotating the first magnet 11 or adjusting the current and direction of the first induction coil 22 and the second induction coil 23, the magnetic control device 20 can be restored to the predetermined position as shown in Figure (a), and at this time, the capsule endoscope 10 is located at the P3 position as shown in Figure (c).

[0059] It should be noted that Figure 4 For illustrative purposes only, when the subject 2 is examined, the first position P1, the second position P2 and the third position P3 are all uncertain, but the state of the magnetron 20 (i.e., the predetermined position) can be determined manually. Thus, the magnetron 20 can accurately return to the predetermined position after periodic rotation or magnetic field change.

[0060] In addition, in this embodiment, referring to Figure 6 The processing device 50 can calculate the fourth magnetic induction intensity (X1) from the first magnet 11 sensed by each magnetic sensor 401 of the magnetic sensor module 40 when the capsule endoscope 10 is at the preset coordinate X1 based on the magnetic dipole model of the first magnet 11 and the preset coordinate X1 of the capsule endoscope 10 in the tissue cavity 3. c0 ,Y c0 ,Z c0 ), the third magnetic induction intensity X c ,Y c ,Z c ) and the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ) to correct the preset coordinate X1 to X2, and let the preset coordinate X2 within the predetermined error be the positioning position P of the capsule endoscope 10. c0 ,Y c0 ,Z c0 ) approaches the third magnetic induction intensity (X c ,Y c ,Z c ) method so that the preset coordinates gradually approach the positioning position, and the capsule endoscope 10 can be accurately positioned within a reasonable error.

[0061] In some examples, in the process of approaching the positioning position P through the preset position X1, for example, the minimum gradient descent method can be used to continuously iterate the magnetic induction intensity B1 generated by the capsule endoscope 10 at the position X1 to B2 (the magnetic induction intensity generated by the capsule endoscope 10 at the position X2) in the direction of the fastest decrease speed or increase speed (for example, the direction from X1 to X2), so that B1 approaches the magnetic induction intensity B3 generated by the capsule endoscope 10 at the actual position P, and finally X2 is determined as the positioning position of the capsule endoscope 10 within a reasonable error range between B2 and B3.

[0062] In this embodiment, since the first magnet 11 is at a certain distance from the magnetron device 20, the first magnet 11 can be regarded as a magnetic dipole in actual clinical applications. In this case, the magnetic dipole model of the first magnet 11 can be:

[0063]

[0064] In formula (I), due to the magnetic moment of the first magnet 11 can be measured in advance, and thus the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ).

[0065] In this embodiment, the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ), and the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ) approaches the third magnetic induction intensity (X c ,Y c ,Z c ) method to continuously simulate the preset position, and determine the final simulated preset position as the positioning position of the capsule endoscope 10.

[0066] In addition, in some examples, the magnetic sensor module 40 includes a three-axis magnetic sensor, two two-axis magnetic sensors, or three one-axis magnetic sensors, or a combination thereof. Thus, the magnetic sensor 401 can be reasonably selected according to actual conditions, and saturation of the magnetic sensor 401 can be avoided in some cases.

[0067] In addition, in some examples, the magnetic sensor module 40 may be composed of a magnetic sensor array 400 and other circuit elements connected to the processing device 50 and transmitting the measured magnetic induction intensity to the processing device 50 .

[0068] In some examples, the magnetic sensor array 400 may be composed of 12 magnetic sensors 401 as shown in the figure, for example, the 12 magnetic sensors 401 may be arranged in a regular array of 4×3 in the X-axis and Y-axis directions, and at least one magnetic sensor 401 in the magnetic sensor module 40 may be configured to at least detect the magnetic induction intensity within a predetermined distance from the predetermined position. And by processing the magnetic induction intensity measured by each magnetic sensor 401 from the magnetic control device 20 and / or the capsule endoscope 10, for example, calculating the standard deviation of the 12 magnetic induction intensities, the magnetic induction intensity measured by the magnetic sensor module 40 can be made more accurate.

[0069] In addition, in some examples, the magnetic sensor module 40 is configured to detect the magnetic field of the capsule endoscope 10 in three dimensions. Figure 5 As shown, each magnetic sensor 401 of the 12 sensors can be set as a three-axis magnetic sensor; in other examples, each magnetic sensor 401 of the 12 sensors can be set as a two-axis magnetic sensor, and the 12 two-axis magnetic sensors are configured to detect the magnetic field of the capsule endoscope 10 in the three-dimensional direction by adjusting the axial direction of each two-axis magnetic sensor; in other examples, each magnetic sensor 401 of the 12 sensors can be set as a one-axis magnetic sensor, and the 12 one-axis magnetic sensors are configured to detect the magnetic field of the capsule endoscope 10 in the three-dimensional direction by adjusting the axial direction of each one-axis magnetic sensor; in other examples, each magnetic sensor 401 of the 12 sensors can include at least one of a three-axis magnetic sensor, a two-axis magnetic sensor, and a one-axis magnetic sensor, and the 12 two-axis magnetic sensors are configured to detect the magnetic field of the capsule endoscope 10 in the three-dimensional direction by adjusting the axial direction of each magnetic sensor 401. In this way, the magnetic sensor module 40 can be reasonably configured to avoid the magnetic induction intensity generated by the magnetic control device 20 and the capsule endoscope 10 from saturating the magnetic sensor module 40.

[0070] Through the above configuration, the magnetic sensor module 40 can detect the magnetic induction intensity in the XYZ three-dimensional directions, and the magnetic sensor module 40 can be used to accurately measure the magnetic field intensity generated by the capsule endoscope 10 and the magnetic control device 20.

[0071] Figure 5 is a flow chart showing a method for magnetic positioning of a capsule endoscope according to an embodiment of the present disclosure; Figure 6 is a schematic diagram showing that the magnetic sensor module involved in the embodiment of the present disclosure locates the capsule endoscope by detecting the magnetic induction intensity of the magnetic control device and the capsule endoscope.

[0072] The following, combined Figure 5 and Figure 6 The magnetic positioning method of the capsule endoscope 10 according to the present disclosure will be described in detail.

[0073] The present disclosure relates to a method for magnetic positioning of a capsule endoscope 10, comprising: a preparation step, introducing the capsule endoscope 10 having a first magnet 11 into a subject 2 located between a magnetic control device 20 and a magnetic sensor module 40, wherein the magnetic sensor module 40 includes at least one magnetic sensor 401 (step S100); a holding step, maintaining the relative position of the magnetic sensor module 40 and the magnetic control device 20 unchanged (step S200); and an acquisition step, acquiring a first magnetic induction intensity (X) from the magnetic control device 20 sensed by the magnetic sensor module 40 when the magnetic control device 20 is located at a predetermined position. m ,Y m ,Z m ), and a second magnetic induction intensity (X ) from the magnetron 20 and the first magnet 11 sensed by the magnetic sensor module 40 when the subject 2 is located between the magnetron 20 and the magnetic sensor module 40 and the magnetron 20 is located at a predetermined position s ,Y s ,Z s )(step S300); and a positioning process, based on the first magnetic induction intensity (X m ,Y m ,Z m ) and the second magnetic induction intensity (X s ,Y s ,Z s ) to calculate the third magnetic induction intensity (X) generated by the capsule endoscope 10 sensed by the magnetic sensor module 40 c ,Y c ,Z c ), and according to the third magnetic induction intensity (X c ,Y c ,Z c ) calculates the position of the first magnet 11 of the capsule endoscope 10 relative to the magnetic sensor module 40 (step S400).

[0074] In this embodiment, the first magnetic induction intensity (X m ,Y m ,Z m ) and the second magnetic induction intensity (X s ,Y s ,Z s ), and based on the first magnetic induction intensity (X m ,Y m ,Z m ) and the second magnetic induction intensity (X s ,Y s ,Z s ) obtains the third magnetic induction intensity (X) generated by the capsule endoscope 10 c ,Y c,Z c )=(X s ,Y s ,Z s )-(X m ,Y m ,Z m ), thereby obtaining the positioning position of the first magnet 11 in the capsule endoscope 10 relative to the magnetic sensor module 40. In this case, the interference of the magnetic field generated by the magnetic control device 20 can be eliminated, and the positioning position of the capsule endoscope 10 in the tissue cavity 3 can be accurately measured.

[0075] In step S200, preferably, the relative position of the magnetic sensor module 40 and the magnetic control device 20 can be kept unchanged, and the capsule endoscope 10 in the tissue cavity 3 can be moved by moving the examination bed 30, thereby enabling the magnetic sensor module 40 to more accurately measure the magnetic field strength of the magnetic control device 20 at the predetermined position, and at the same time, the structure of the magnetic control device 20 can be simplified to reduce the connection relationship and coupling relationship of the various components in the magnetic control device 20 (i.e., the first magnet 11, the first induction coil 22, the second induction coil 23, etc.). As mentioned above, the state (predetermined position) of the magnetic control device 20 can be determined manually, that is, the magnetic control device 20 (including the first magnet 11, the first induction coil 22, and the second induction coil 23) can be restored to the predetermined position by manual adjustment, so that the magnetic induction intensity of the magnetic control device 20 that has changed is restored to the first magnetic induction intensity (X m ,Y m ,Z m ), and at this time, based on the second magnetic induction intensity (X s ,Y s ,Z s ) calculate the third magnetic induction intensity (X c ,Y c ,Z c ).

[0076] In some examples, the magnetic positioning system 1 of the capsule endoscope may further include an examination bed 30, and the magnetic sensor module 40 may be arranged on a bracket 31 separated from the examination bed 30. When the subject 2 is detected, the relative position of the magnetic sensor module 40 and the magnetic control device 20 remains unchanged, that is, the relative position of the magnetic sensor module 40 and the magnetic control device 20 is reset to the relative position of the magnetic sensor module 40 and the magnetic control device 20 when the relative position is reset to the initial state. In this case, since the magnetic sensor module 40 is arranged on the bracket 31 separated from the examination bed 30, it can be ensured that the magnetic sensor module 40 is stationary relative to the ground, and the movement of the capsule endoscope can be controlled by moving the examination bed and / or the magnetic control device 20. Only when the relative position of the magnetic sensor module 40 and the magnetic control device 20 is reset to the relative position of the magnetic sensor module 40 and the magnetic control device 20 when the relative position is reset to the initial state, the capsule endoscope 10 in the subject 2 is positioned. In addition, in some examples, the magnetic control device 20 can be moved in the Z-axis direction and the examination bed 30 can be moved in the XY plane, thereby enabling the capsule endoscope 10 to be controlled more conveniently.

[0077] In other examples, the predetermined position of the magnetic control device 20 may be pre-set to be multiple. For example, the predetermined position of the magnetic control device 20 may also include when the capsule endoscope 10 is located at P2 (see Figure 4 (b) The magnetic induction intensity generated by the magnetic control device 20. When the magnetic induction intensity generated by the magnetic control device 20 undergoes a change and returns to the magnetic induction intensity generated by the magnetic control device 20 when the capsule endoscope 10 is located at P2, the capsule endoscope 10 can be positioned based on the above method. Thus, the capsule endoscope 10 can be positioned at more positions to further plan the path of the movement of the capsule endoscope 10.

[0078] In the positioning process of step S400, the fourth magnetic induction intensity (X1) from the first magnet 11 sensed by each magnetic sensor 401 of the magnetic sensor module 40 at the preset coordinate X1 of the capsule endoscope 10 can be calculated based on the magnetic dipole model of the first magnet 11 and the preset coordinate X1 of the capsule endoscope 10 in the tissue cavity 3. c0 ,Y c0 ,Z c0 ), the third magnetic induction intensity (X c ,Y c ,Z c ) and the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ) to correct the preset coordinate X1 to X2, and let the preset coordinate X2 within the predetermined error be the positioning position P of the capsule endoscope 10. c0 ,Yc0 ,Z c0 ) approaches the third magnetic induction intensity (X c ,Y c ,Z c ) method so that the preset coordinate X1 gradually approaches the positioning position P, and the capsule endoscope 10 can be accurately positioned within a reasonable error.

[0079] For example, when the fourth magnetic induction intensity (X c0 ,Y c0 ,Z c0 ) and the third magnetic induction intensity (X c ,Y c ,Z c )When the error differs by 30%, it can be considered that the positioning position at this time is the actual position of the capsule endoscope 10 in the tissue cavity 3.

[0080] In addition, in some examples, the magnetic sensor module 40 includes a three-axis magnetic sensor, two two-axis magnetic sensors, or three one-axis magnetic sensors, or a combination thereof. Thus, the magnetic sensor 401 can be reasonably selected according to actual conditions, and saturation of the magnetic sensor 401 can be avoided in some cases.

[0081] In addition, in some examples, reference Figure 6 The magnetic sensor module 40 may be composed of a magnetic sensor array 400 and other circuit components connected to the processing device 50 and transmitting the measured magnetic induction intensity to the processing device 50 .

[0082] In some examples, the magnetic sensor array 400 may be composed of 12 magnetic sensors 401 as shown in the figure, for example, the 12 magnetic sensors 401 may be regularly arranged in a 4×3 array in the X-axis and Y-axis directions, and at least one magnetic sensor 401 in the magnetic sensor module 40 is configured to at least detect the magnetic induction intensity within a predetermined distance from a predetermined position. And by processing the magnetic induction intensity measured by each magnetic sensor 401 from the magnetic control device 20 and / or the capsule endoscope 10, for example, calculating the standard deviation of the 12 magnetic induction intensities, the magnetic induction intensity measured by the magnetic sensor module 40 can be made more accurate.

[0083] In addition, in this embodiment, the magnetic positioning system 1 of the capsule endoscope further includes an examination bed 30, and the magnetic sensor module 40 is arranged on a bracket 31 separated from the examination bed 30. When the subject 2 is detected, the relative position of the magnetic sensor module 40 and the magnetic control device 20 remains unchanged, and the subject 2 moves relative to the magnetic sensor module 40 and the magnetic control device 20. Thus, the magnetic sensor module 40 can more accurately measure the magnetic field strength of the magnetic control device 20 at a predetermined position, and the structure of the magnetic control device 20 can also be simplified to reduce the connection relationship and coupling relationship of various components in the magnetic control device 20 (i.e., the first magnet 11, the first induction coil 22, the second induction coil 23, etc.).

[0084] In this embodiment, the first magnetic induction intensity and the second magnetic induction intensity are measured by the magnetic sensor module 40, and the third magnetic induction intensity generated by the capsule endoscope 10 is obtained based on the first magnetic induction intensity and the second magnetic induction intensity, thereby obtaining the positioning position of the first magnet 11 in the capsule endoscope 10 relative to the magnetic sensor module 40. In this case, the interference of the magnetic field generated by the magnetic control device 20 can be eliminated, and the positioning position of the capsule endoscope 10 in the tissue cavity 3 can be accurately measured.

[0085] Although the present disclosure is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the scope of the present disclosure.

Claims

1. A method for positioning a capsule endoscope based on a magnet, wherein the capsule endoscope is magnetically controlled by a magnetic control device, characterized in that: The positioning method comprises: A maintaining step of maintaining the relative position of the magnetic sensor module and the magnetic control device unchanged; an acquisition step of acquiring a first magnetic induction intensity from the magnetic control device sensed by the magnetic sensor module when the magnetic control device is located at a predetermined position, and a second magnetic induction intensity from the magnetic control device and a first magnet sensed by the magnetic sensor module when the capsule endoscope is located between the magnetic control device and the magnetic sensor module and the magnetic control device is located at the predetermined position, wherein the capsule endoscope has the first magnet, the first magnet is at a certain distance from the magnetic control device, and the magnetic control device returns to the predetermined position after periodic rotation or magnetic field change; a positioning step of calculating a third magnetic induction intensity generated by the capsule endoscope and sensed by the magnetic sensor module based on the first magnetic induction intensity and the second magnetic induction intensity, and calculating a position of the first magnet of the capsule endoscope relative to the magnetic sensor module according to the third magnetic induction intensity; and In the positioning process, based on the magnetic dipole model of the first magnet and the preset coordinates of the capsule endoscope between the magnetic control device and the magnetic sensor module, the fourth magnetic induction intensity from the first magnet sensed by the various magnetic sensors of the magnetic sensor module when the capsule endoscope is at the preset coordinates is calculated, the third magnetic induction intensity is compared with the fourth magnetic induction intensity to correct the preset coordinates, and the preset coordinates within a predetermined error are set as the positioning position of the capsule endoscope.

2. The positioning method according to claim 1, characterized in that: The magnetic control device further includes a third induction coil, which generates a magnetic force acting on the capsule endoscope to fix the capsule endoscope at the predetermined position.

3. The positioning method according to claim 1, characterized in that: The magnetic sensor module includes one three-axis magnetic sensor, two two-axis magnetic sensors, or three one-axis magnetic sensors, or a combination thereof.

4. The positioning method according to claim 1, characterized in that: At least one magnetic sensor in the magnetic sensor module is configured to detect at least a magnetic induction intensity within a predetermined distance from the predetermined position.

5. The positioning method according to claim 1, characterized in that: The magnetron device includes a first induction coil and a second magnet, wherein the first induction coil is arranged on the same side as the second magnet.

6. The positioning method according to claim 5, characterized in that: The magnetron device includes a second induction coil disposed on a different side from the first induction coil.

7. The positioning method according to claim 1, characterized in that: The positioning method also includes a communication device for wirelessly communicating with the capsule endoscope, an operation device for controlling the magnetic control device, a storage unit for storing image information, and a display device for displaying the image information collected by the capsule endoscope.

8. A magnetic positioning system for a capsule endoscope, characterized in that: include: A capsule endoscope, a magnetic control device, a processing device and a magnetic sensor module, wherein the capsule endoscope has a first magnet, the magnetic sensor module includes at least one magnetic sensor and senses the magnetic induction intensity of the first magnet and / or the magnetic control device, and the first magnet is at a certain distance from the magnetic control device; the processing device obtains a first magnetic induction intensity from the magnetic control device sensed by the magnetic sensor module when the magnetic control device is located at a predetermined position, and a second magnetic induction intensity from the magnetic control device and the first magnet sensed by the magnetic sensor module when the capsule endoscope is located between the magnetic control device and the magnetic sensor module and the magnetic control device is located at the predetermined position, calculates a third magnetic induction intensity generated by the capsule endoscope and sensed by the magnetic sensor module based on the first magnetic induction intensity and the second magnetic induction intensity, and calculates a third magnetic induction intensity generated by the capsule endoscope and sensed by the magnetic sensor module based on the third magnetic induction intensity The position of the first magnet of the capsule endoscope relative to the magnetic sensor module is calculated, wherein the magnetic control device returns to the predetermined position after periodic rotation or magnetic field change; the processing device calculates the fourth magnetic induction intensity from the first magnet sensed by each magnetic sensor of the magnetic sensor module of the capsule endoscope at the preset coordinates based on the magnetic dipole model of the first magnet and the preset coordinates of the capsule endoscope in the tissue cavity, compares the third magnetic induction intensity with the fourth magnetic induction intensity to correct the preset coordinates, continuously simulates the preset coordinates by calculating the fourth magnetic induction intensity and making the fourth magnetic induction intensity approach the third magnetic induction intensity, and makes the preset coordinates within a predetermined error the positioning position of the capsule endoscope, wherein the relative position of the magnetic sensor module and the magnetic control device remains unchanged.

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