Micro electromagnetic positioning system, positioning method and storage medium thereof

Abstract

The invention discloses a micro electromagnetic positioning system, a positioning method and a storage medium, and the system comprises a magnetic field generation assembly which is provided with coils on three dimensions of an excitation magnetic core, and is used for receiving a sine wave current and generating a sine wave magnetic field of three dimensions; the first positioning assembly and the second positioning assembly are arranged at intervals with the magnetic field generation assembly to form a target detection area, the positioning target is located in the target detection area, the first positioning assembly comprises a first three-dimensional magnetic sensor, the second positioning assembly comprises a second three-dimensional magnetic sensor, and the positioning target comprises a third three-dimensional magnetic sensor; the positioning processing module is electrically connected with the magnetic field generation assembly, the first positioning assembly, the second positioning assembly and the positioning target. According to the invention, the first positioning assembly and the second positioning assembly are arranged to assist in positioning the positioning target position, so that the positioning is more accurate; and after positioning is carried out based on the micro electromagnetic positioning system, the position of the target is further calibrated by adopting a calibration method.

Description

Technical Field

[0001] The present invention relates to the field of micro-electromagnetic positioning technology, and in particular to a micro-electromagnetic positioning system, a positioning method and a storage medium thereof. Background Art

[0002] Capsule endoscopes are widely used in medical examinations and auxiliary diagnosis of the digestive tract. The digestive tract environment is tortuous and there are many factors that affect intestinal peristalsis, which leads to large individual differences in the movement time and process of the capsule endoscope in the digestive tract. The movement speed of the capsule in the digestive tract is uneven, and there are often local displacements and posture changes, which are also affected by digestive tract peristalsis and body movement. It is difficult to accurately establish the three-dimensional structure of the digestive tract and locate the physical position of the lesion only through the visual images taken by the capsule endoscope. Using magnetic positioning technology to position the capsule endoscope in the body can obtain the spatial position and posture information of the capsule in addition to the capsule image, which may help establish the three-dimensional structure of the digestive tract and locate the physical position of the lesion.

[0003] The existing magnetic positioning technologies for capsule endoscopes in the human body either require the human body to stay near a fixed positioning device, or the positioning device wraps most of the torso to affect human movement, or the high power consumption limits the sustainable positioning time or the timeliness of positioning, or the poor positioning accuracy makes it difficult to distinguish the overlapping small intestinal intestinal paths. The above magnetic positioning technologies have more or less defects such as poor portability, high energy consumption, low positioning frequency, and unsatisfactory positioning accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a micro-electromagnetic positioning system, a positioning method and a storage medium thereof, so as to solve the technical problems in the prior art that the positioning equipment is fixed and difficult to carry, occupies a large space and has poor positioning accuracy, resulting in overlapping small intestinal intestinal paths that are difficult to distinguish.

[0005] To achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a micro-electromagnetic positioning system, the system comprising: a magnetic field generating component, comprising a coil arranged in three dimensions on an excitation core, the coil being used to receive a sinusoidal current and generate a three-dimensional sinusoidal magnetic field;

[0006] At least includes a first positioning component, a second positioning component and a positioning target, the first positioning component and the second positioning component are spaced apart from the magnetic field generating component to form a target detection area, the positioning target is located in the target detection area, the first positioning component includes a first three-dimensional magnetic sensor, the second positioning component includes a second three-dimensional magnetic sensor, and the positioning target includes a third three-dimensional magnetic sensor;

[0007] A positioning processing module is electrically connected to the magnetic field generating component, and is communicatively connected to the first positioning component, the second positioning component and the positioning target. The positioning processing module is configured to obtain the three-dimensional magnetic field components sensed by the first three-dimensional magnetic sensor, the second three-dimensional magnetic sensor and the third three-dimensional magnetic sensor in the sinusoidal magnetic field, perform positioning calculations based on the peak values ​​of the three-dimensional magnetic field components to obtain the position and posture information of the first positioning component, the second positioning component and the positioning target, and calibrate the position information of the positioning target within the target detection area based on the obtained position information of the first positioning component and the second positioning component.

[0008] As a further improvement of the present invention, the system further includes: the first positioning component further includes a first inertial measurement unit and a first main control module, and the first three-dimensional magnetic sensor and the first inertial measurement unit are electrically connected to the first main control module respectively;

[0009] The second positioning assembly further includes a second inertial measurement unit and a second main control module, and the second three-dimensional magnetic sensor and the second inertial measurement unit are electrically connected to the second main control module respectively;

[0010] The first main control module and the second main control module are both used to obtain corresponding three-dimensional magnetic field components and inertial measurement data and transmit them to the positioning processing module.

[0011] As a further improvement of the present invention, the system further includes: the positioning target further includes an imaging unit, a third inertial measurement unit and a data processing module, and the imaging unit and the third inertial measurement unit are electrically connected to the data processing module;

[0012] The imaging unit is used to capture images;

[0013] The third inertial measurement unit is used to obtain inertial measurement data.

[0014] As a further improvement of the present invention, the system further includes: the magnetic field generating component also includes a control board, and the control board is used to control the coil to be energized so that the magnetic field generating component generates the three-dimensional sinusoidal wave magnetic field.

[0015] As a further improvement of the present invention, the system further includes: the positioning processing module includes a control unit, the control unit is electrically connected to the control board, and the control unit is used to convert direct current into alternating current to supply the control board.

[0016] As a further improvement of the present invention, the system further comprises: a waist belt, the first positioning component, the second positioning component and the magnetic field generating component are mounted on the waist belt and form a target detection area in the waist belt;

[0017] It also includes a fixing strap and a connecting cable bundle. The positioning processing module is installed on the fixing strap and is electrically connected to the magnetic field generating component through the connecting cable bundle to excite the three-dimensional sinusoidal wave magnetic field of the magnetic field generating component.

[0018] As a further improvement of the present invention, the system further includes: the fixing strap is a leg strap, and the positioning processing module is installed on the leg strap.

[0019] To achieve one of the above-mentioned objects of the invention, the present invention further provides a micro-electromagnetic positioning method, comprising: transmitting a control signal, wherein the control signal is used to instruct a magnetic field generating component to generate a three-dimensional sinusoidal magnetic field;

[0020] Acquire a three-dimensional magnetic field component generated by a positioning target, a first positioning component, and a second positioning component in the sinusoidal magnetic field, wherein the positioning target, the first positioning component, and the second positioning component are all characterized as positioning objects in the sinusoidal magnetic field;

[0021] According to the peak value of the three-dimensional magnetic field component of the positioning target, the position and posture information of the positioning target are obtained by solving;

[0022] According to the peak values ​​of the three-dimensional magnetic field components of the first positioning component and the second positioning component, the position and posture information of the first positioning component and the second positioning component are obtained, and the position information of the positioning target in the target detection area is calibrated according to the position information of the first positioning component and the second positioning component.

[0023] As a further improvement of the present invention, the method further includes: calibrating the position information of the positioning target in the target detection area specifically includes:

[0024] Calculating position information of the first positioning component and the second positioning component multiple times according to the three-dimensional magnetic field components of the first positioning component and the second positioning component within a preset time period and calculating an average position;

[0025] Calculating the position and posture information of the positioning target in the sinusoidal magnetic field after a preset time period;

[0026] Calculating position information of the first positioning component and the second positioning component in the sinusoidal magnetic field after a preset time period;

[0027] According to the telescopic and rotational change matrix W*S, the position information of the positioning target in the sinusoidal magnetic field is calibrated based on the average position of the first positioning component and the second positioning component.

[0028] As a further improvement of the present invention, the method further includes: establishing reference coordinates in a three-dimensional spatial coordinate system according to the position information of the first positioning component and the second positioning component and calculating the position coordinates of the positioning target based on the reference coordinates.

[0029] As a further improvement of the present invention, the method further includes: calibrating the position information of the positioning target in the sinusoidal magnetic field based on the average position of the first positioning component and the second positioning component specifically includes:

[0030] Obtaining an average position D1 of the first positioning component within a preset time length and an average position E1 of the second positioning component within a preset time length;

[0031] After a preset time, the location information C1 of the positioning target is obtained;

[0032] After a preset time period, the location information D2 of the first positioning component and the location information E2 of the second positioning component are obtained;

[0033] Constructing a telescopic and rotational change matrix WS related to the first positioning component and the second positioning component;

[0034] Calibrate the position information of the positioning target to obtain new position information C2:

[0035] C2 = W·S·C1;

[0036] W*S=[D2 E2]·[D1 E1] T ·([D1 E1]·[D1 E1] T ) -1 .

[0037] The present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any one of the micro-electromagnetic positioning methods described above are implemented.

[0038] Compared with the prior art, the present invention has the following beneficial effects: the position of the positioning target can be located by using the three-dimensional sinusoidal magnetic field, and at the same time, the first positioning component and the second positioning component are provided to assist in the positioning of the positioning target, so that the positioning can be made more accurate; and the sinusoidal magnetic field of the magnetic field generating component can reduce power consumption, reduce magnetic field interference, and improve the signal-to-noise ratio to obtain a longer battery life;

[0039] The present invention further adopts a calibration method after positioning based on the micro-electromagnetic positioning system, and expands and rotates the change matrix W*S to calibrate the position of the target, so that the acquired positioning coordinates can be more accurate and more practical, and the influence of digestive tract peristalsis and body movement can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a connection block diagram of a micro electromagnetic positioning system in one embodiment of the present invention.

[0041] Figure 2 It is a schematic diagram of a micro electromagnetic positioning system separately bound to a human body in one embodiment of the present invention.

[0042] Figure 3 Schematic diagram of a waist belt in one embodiment of the present invention.

[0043] Figure 4 It is a block diagram of a first positioning component and a second positioning component connected to a positioning processing module in one embodiment of the present invention.

[0044] Figure 5 It is a block diagram of a positioning target connected to a positioning processing module in one embodiment of the present invention.

[0045] Figure 6 Schematic diagram of a magnetic field generating component in one embodiment of the present invention.

[0046] Figure 7 It is a system schematic diagram of a positioning unit receiving a first positioning component, a second positioning component and a positioning target in one embodiment of the present invention.

[0047] Figure 8 It is a flow chart of a micro-electromagnetic positioning method in one embodiment of the present invention.

[0048] Fig. 9 It is a calculation flow chart of the position information of the calibrated positioning target within the target detection area in one embodiment of the present invention.

[0049] Fig.10 It is a schematic diagram of the position changes of the first positioning component, the second positioning component and the magnetic field generating component in one embodiment of the present invention.

[0050] Fig.11 It is a flow chart of calibrating the position information of the positioning target within the target detection area in one embodiment of the present invention.

[0051] Fig.12 It is a computer system structure block diagram of the storage medium suitable for implementing the implementation mode of the present application in the present invention. DETAILED DESCRIPTION

[0052] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0053] like Figure 1As shown, in one embodiment of the present invention, a micro-electromagnetic positioning system is provided, which can be applied to the positioning of capsule endoscopes during gastrointestinal medical examinations and auxiliary diagnosis. A target detection area is formed by a sinusoidal magnetic field generated by the micro-electromagnetic positioning system, and the capsule endoscope is located and active in the target detection area. The micro-electromagnetic positioning system locates the position and posture of the capsule endoscope in the target detection area.

[0054] The magnetic field generating assembly 1 comprises coils arranged in three dimensions on the excitation core, the coils being used to receive a sinusoidal current and generate a three-dimensional sinusoidal magnetic field;

[0055] At least includes a positioning target 5, a first positioning component 2 and a second positioning component 3, the first positioning component 2 and the second positioning component 3 are spaced apart from the magnetic field generating component 1 to form a target detection area, the positioning target 5 is located in the target detection area, the first positioning component 2 includes a first three-dimensional magnetic sensor 21, the second positioning component 3 includes a second three-dimensional magnetic sensor 31, and the positioning target 5 includes a third three-dimensional magnetic sensor 51;

[0056] The positioning processing module 4 is electrically connected to the magnetic field generating component 1 , and is communicatively connected to the first positioning component 2 , the second positioning component 3 and the positioning target 5 .

[0057] The positioning processing module 4 is configured to obtain the three-dimensional magnetic field components sensed by the first three-dimensional magnetic sensor 21, the second three-dimensional magnetic sensor 31 and the third three-dimensional magnetic sensor 51 in the sinusoidal magnetic field, perform positioning calculations based on the peak values ​​of the three-dimensional magnetic field components to obtain the position and posture information of the first positioning component 2, the second positioning component 3 and the positioning target 5, and calibrate the position information of the positioning target 5 within the target detection area based on the obtained position information of the first positioning component 2 and the second positioning component 3.

[0058] In this way, the positioning processing module 4 performs positioning calculation on the positioning target 5 to obtain the precise position and posture of the positioning target 5. The sinusoidal magnetic field generated by the magnetic field generating component 1 can reduce system power consumption, reduce magnetic field interference, improve signal-to-noise ratio and positioning accuracy, and is also the key to achieving low power consumption, portability (reducing hardware volume and weight), and improving positioning accuracy of the micro-electromagnetic system.

[0059] In addition, in the micro-electromagnetic positioning system, the magnetic field generating component 1 generates a three-dimensional sinusoidal magnetic field to detect the positioning target 5, and the positioning processing module 4 is used to obtain the position and posture information of the positioning target 5. Based on the auxiliary positioning of the first positioning component 2 and the second positioning component 3, the position of the positioning target 5 can be further accurately obtained.

[0060] Among them, the first three-dimensional magnetic sensor 21, the second three-dimensional magnetic sensor 31 and the third three-dimensional magnetic sensor 51 can all adopt chip-type high-precision, low-noise magnetic sensors such as AK09940, MMC5983MA, MMC5603NJ, etc. suitable for weak magnetic field environments; they are used to sense the three-dimensional magnetic field components at the spatial position of the sinusoidal magnetic field.

[0061] Specifically, the first positioning component 2, the second positioning component 3 and the positioning target 5 are in a sinusoidal magnetic field, and the first three-dimensional magnetic sensor 21, the second three-dimensional magnetic sensor 31 and the third three-dimensional magnetic sensor 51 are used to sense the three-dimensional magnetic field component in the sinusoidal magnetic field.

[0062] It should be noted that the target detection area is in a sinusoidal magnetic field.

[0063] like Figure 2 and Figure 3 As shown, in one embodiment, it also includes a waist belt 12, and the first positioning component 2, the second positioning component 3 and the magnetic field generating component 1 are installed on the waist belt 12 and form a target detection area inside the waist belt 12.

[0064] The magnetic field generating component 1, the first positioning component 2 and the second positioning component 3 are arranged on the same belt, which is put on the human waist to form a target detection area in the center area of ​​the belt. The target detection area can locate the positioning target 5 in the human digestive tract, that is, the capsule endoscope.

[0065] Furthermore, it also includes a fixing strap 43 and a connecting cable bundle 44. The positioning processing module 4 is installed on the fixing strap 43 and is electrically connected to the magnetic field generating component 1 through the connecting cable bundle 44 to excite the three-dimensional sinusoidal wave magnetic field of the magnetic field generating component 1.

[0066] The fixing strap 43 can be represented as a leg strap, and the positioning processing module 4 is arranged on the leg strap, and is separated from the magnetic field generating component 1, the first positioning component 2 and the second positioning component 3 on the waist belt, thereby forming a lightweight positioning system, and can also reduce the weight of the waist belt, thereby reducing interference with the positioning processing module 4.

[0067] In other embodiments, the fixing strap 43 may be a strap fixed to other places, such as a wrist strap or other devices fixed to the outside of the human body.

[0068] In one embodiment, the positioning calculation includes solving the position and posture information of the positioning target 5, the first positioning component 2 and the second positioning component 3; and also includes establishing reference coordinates in a three-dimensional spatial coordinate system according to the position information of the first positioning component 2 and the second positioning component 3 and calibrating the position coordinates of the positioning target 5 based on the reference coordinates.

[0069] like Figure 4 As shown, in one embodiment of the present invention, the first positioning component 2 further includes a first inertial measurement unit 22 and a first main control module 23, and the first three-dimensional magnetic sensor 21 and the first inertial measurement unit 22 are electrically connected to the first main control module 23 respectively.

[0070] The second positioning assembly 3 further includes a second inertial measurement unit 32 and a second main control module 33 . The second three-dimensional magnetic sensor 31 and the second inertial measurement unit 32 are electrically connected to the second main control module 33 , respectively.

[0071] The first main control module 23 and the second main control module 33 are both used to obtain corresponding three-dimensional magnetic field components and inertial measurement data and transmit them to the positioning processing module 4 .

[0072] The first inertial measurement unit 22 and the second inertial measurement unit 32 are used to obtain inertial measurement data of corresponding components to assist in positioning calculation, so that the data of the position and posture of the positioning target 5 are more accurate.

[0073] The first main control module 23 and the second main control module 33 are respectively used to control the first positioning component 2 and the second positioning component 3 to sense the three-dimensional magnetic field component of the sinusoidal magnetic field, feed back the three-dimensional magnetic field component, and process and feed back inertial measurement data.

[0074] Based on the above scheme, the three-dimensional magnetic field components of the first positioning component 2 and the second positioning component 3 are obtained to assist in calibrating the position of the positioning target 5. At the same time, the inertial measurement data of the first positioning component 2 and the second positioning component 3 are obtained for more accurate positioning calculation.

[0075] like Figure 5 As shown, in one embodiment of the present invention, the positioning target 5 further includes an imaging unit 52, a third inertial measurement unit 53 and a data processing module 54, and the imaging unit 52 and the third inertial measurement unit 53 are electrically connected to the data processing module 54;

[0076] The imaging unit 52 is used to capture images;

[0077] The third inertial measurement unit 53 is used to obtain inertial measurement data.

[0078] The third inertial measurement unit 53 acquires inertial measurement data of the positioning target 5 .

[0079] The imaging unit 52 is not limited to one group, and may include multiple groups. For example, two groups of imaging units 52 distributed at both ends of the capsule can capture images of the digestive tract simultaneously, alternately or independently.

[0080] like Figure 6As shown, in one embodiment of the present invention, the magnetic field generating component 1 includes a control board 11 and an excitation core and three groups of coils of different dimensions wound on the excitation core, and the control board 11 is used to control the coils to pass sinusoidal alternating current so that the magnetic field generating component 1 generates a three-dimensional sinusoidal magnetic field.

[0081] Three sets of coils are combined with a magnetic core. The three sets of coils are wound on the magnetic core in three dimensions and energized. Figure 6 As shown, the three dimensions are perpendicular to each other.

[0082] Specifically, the three groups of coils are arranged orthogonally to each other and their centers coincide, which are used to generate a linearly independent magnetic field distribution with significant spatial differences, and significantly suppress the mutual inductance interference of the magnetic field between the coils. A soft magnetic material core is set inside to significantly enhance the magnetic field signal, reduce the number of coil turns, current and power consumption requirements, reduce the weight of the coil, and enhance the portability and stability of the micro electromagnetic positioning system. The coil can be wound according to the required magnetic field parameters, or commercial coils that meet the specification requirements can be used, such as Premo3D20LW, 3D28LW, etc. The overall weight of the coil can be controlled within 50-100g, and the size can be controlled to about 4cm in side length.

[0083] like Figure 6 As shown, in one embodiment of the present invention, the positioning processing module 4 includes a control unit 41 , and the control unit 41 is electrically connected to the control board 11 , and the control unit 41 is used to convert direct current into alternating current to supply the control board 11 .

[0084] Furthermore, in combination with the fixing strap 43 and the connecting cable bundle 44 used in the above-mentioned embodiment, the control unit 41 is electrically connected to the control board 11 through the connecting cable bundle and converts direct current into alternating current. The control board 11 controls the output of alternating current, and the alternating current excites the magnetic field generating component 1 to generate a sinusoidal magnetic field.

[0085] In this way, under the control of the control unit 41, direct current can be converted into sinusoidal alternating current of specific frequency, current and voltage. And the control unit 41 of the positioning processing module 4 controls the control board 11 in real time, thereby reducing the load of the magnetic field generating component.

[0086] The system uses a DC power supply (a high-energy-density rechargeable lithium battery, such as 18650, 21700 lithium battery or lithium-ion polymer battery) to ensure overall portability. The DC power is converted into a standard sinusoidal AC power of a specific amplitude (within the safe voltage range), frequency, and phase, which is used to power the electromagnetic coil to generate a sinusoidal magnetic field signal. Under the same signal peak, the power consumption of the sinusoidal signal is only 1 / 2 of that of the square wave pulse signal, which can effectively reduce the power consumption of the micro-electromagnetic positioning system and increase the endurance of continuous positioning. The sinusoidal electrical signal has no mutations, and will not cause magnetic field signal distortion and high-frequency harmonic interference to the inductive coil, which can achieve better positioning stability and accuracy.

[0087] like Figure 7 As shown, in one embodiment of the present invention, the positioning processing module 4 includes a positioning unit 42, and the positioning unit 42 is communicatively connected to the first positioning component 2, the second positioning component 3 and the positioning target 5, and obtains the three-dimensional magnetic field components sensed by the first positioning component 2, the second positioning component 3 and the positioning target 5, calculates the position and posture information of the positioning target 5, the first positioning component 2 and the second positioning component 3 according to the three-dimensional magnetic field components, and calibrates the position information of the positioning target 5 in the target detection area according to the position information of the first positioning component 2 and the second positioning component 3.

[0088] The positioning unit 42 can receive the three-dimensional magnetic field components fed back by the sensors in the first positioning component 2, the second positioning component 3 and the positioning target 5, perform positioning calculations based on the three-dimensional magnetic field components to obtain the position and posture information of the first positioning component 2, the second positioning component 3 and the positioning target 5, establish the coordinates with the reference positions of the first positioning component 2 and the second positioning component 3 through the position information of the first positioning component 2 and the second positioning component 3, and calibrate the position coordinates of the positioning target 5. Based on this, the position of the positioning target 5 can be made more accurate based on the two reference positions.

[0089] Among them, the positions of the first positioning component 2 and the second positioning component 3 are relatively fixed in the target detection area and thus serve as fixed reference positions. Based on this, the three-dimensional magnetic field components of the dynamic positioning target 5 are detected and their coordinates relative to the fixed reference position are calculated so that real-time tracking and positioning can be performed.

[0090] In one embodiment, a three-dimensional spatial coordinate system is established based on the position information of the first positioning component 2 and the second positioning component 3 in the target detection area, and the position coordinates of the positioning target 5 can be calibrated in real time in the three-dimensional spatial coordinate system through the relative relationship between the position of the positioning target 5 and the fixed position of the first positioning component 2 and the second positioning component 3.

[0091] In one embodiment of the present invention, a micro-electromagnetic positioning method is provided. The calibration method can be applied to the above-mentioned micro-electromagnetic positioning system. After locating the capsule endoscope by the micro-electromagnetic positioning system to obtain the position of the capsule endoscope in the target detection area, the micro-electromagnetic positioning system calibrates the position of the capsule endoscope by the positioning method, thereby solving the problem that the positioning position of the capsule endoscope deviates from the actual position due to the peristalsis of the digestive tract and body movement when the capsule endoscope is in the human digestive tract.

[0092] like Figure 8 As shown, the micro-electromagnetic positioning method includes:

[0093] S1: Transmit a control signal, the control signal is used to instruct the magnetic field generating component 1 to generate a three-dimensional sinusoidal magnetic field.

[0094] S2: Acquire the three-dimensional magnetic field components generated by the positioning target 5, the first positioning component 2 and the second positioning component 3 in the sinusoidal magnetic field, wherein the positioning target 5, the first positioning component 2 and the second positioning component 3 are all characterized as positioning objects in the sinusoidal magnetic field.

[0095] S3: According to the peak value of the three-dimensional magnetic field component of the positioning target 5, the position and posture information of the positioning target 5 is obtained by solving.

[0096] S4: According to the peak values ​​of the three-dimensional magnetic field components of the first positioning component 2 and the second positioning component 3, the position and posture information of the first positioning component 2 and the second positioning component 3 are obtained by solving.

[0097] S5: Calibrate the position information of the positioning target 5 within the target detection area according to the position information of the first positioning component 2 and the second positioning component 3.

[0098] In this way, the three-dimensional sine wave magnetic field can be used to obtain the three-dimensional magnetic field component of the positioning target 5 to calculate the position and posture information. Then, the position information of the positioning target 5 is calibrated by the first positioning component 2 and the second positioning component 3 to make the position information of the positioning target 5 more accurate.

[0099] Among them, in step S1, the magnetic field generating component 1 includes coils arranged in three dimensions on the excitation core, and the coils are used to receive sinusoidal current and generate a three-dimensional sinusoidal magnetic field; and, the positioning target 5 is in the sinusoidal magnetic field, and the area where the sinusoidal magnetic field is located can be understood as the target detection area.

[0100] Furthermore, in step S1, the control signal excites and generates a sinusoidal alternating current:

[0101] I k (t) = a k sin(w k t+b k );

[0102] Based on the sinusoidal alternating current passing through the coil to generate a sinusoidal magnetic field:

[0103]

[0104] Where k is the coil number (corresponding to coils X, Y, and Z), a k is the peak current, w k is the angular frequency of the sine wave, b k is the phase of the sine wave, is the peak value of magnetic induction intensity (a vector containing three-axis components in space).

[0105] In step S2, it should be noted that the positioning target 5, the first positioning component 2 and the second positioning component 3 include a three-dimensional magnetic sensor, so that three-dimensional magnetic field components can be sensed.

[0106] Specifically, the three-dimensional magnetic field components of the positioning target 5, the first positioning component 2 and the second positioning component 3 are fitted according to the function fitting algorithm, and the peak value (magnetic field measurement peak value) of the three-dimensional magnetic field components is calculated. Among them, the function fitting algorithm can effectively eliminate the background magnetic field and signal noise interference, and extract accurate magnetic field signal data. The fitting formula is (taking the single-axis magnetic field value as an example):

[0107] B = Asin(wt+b)+c;

[0108] Where c is the background magnetic field and other high-frequency noise interference, w is the signal angular frequency (significantly different from the power frequency and has frequency safety), b is the signal phase (can be set to 0), and the signal amplitude A is the amplitude to be determined by fitting.

[0109] By using a function fitting algorithm, scattered data can be fitted into a sinusoidal distribution waveform, which is beneficial to the analysis of the sinusoidal function to obtain the peak value of the magnetic field measurement.

[0110] In this way, the position and attitude information can be easily obtained by solving the theoretical values ​​of the magnetic field measurement peak value and the magnetic induction intensity peak value matrix obtained by fitting analysis through a nonlinear optimization algorithm.

[0111] In steps S3 and S4, the position and posture information of the positioning target 5, the first positioning component 2 and the second positioning component 3 can be obtained by solving the nonlinear optimization algorithm.

[0112] Specifically, the calculation method of the theoretical value of the magnetic induction intensity peak matrix is ​​as follows:

[0113] The spatial distribution of magnetic induction intensity is calculated based on the magnetic field strength and coil size:

[0114]

[0115] Where, μ0 is the vacuum permeability, M k is the peak value of the equivalent magnetic moment of the k coil, is the equivalent unit magnetic moment vector of the k-coil, is the spatial position vector, is a space unit vector.

[0116] The theoretical value of the magnetic induction intensity peak matrix is ​​obtained based on the spatial distribution of the magnetic induction intensity. In one embodiment, the spatial distribution of the magnetic induction intensity is equivalent to the theoretical value of the magnetic induction intensity peak matrix.

[0117] It should be noted that the theoretical value of the magnetic induction intensity peak matrix and the sensor measurement value satisfy the relationship:

[0118]

[0119] Where R is the sensor attitude rotation matrix, which can be uniquely determined by the rotation Euler angles yaw, pitch, and roll; is the theoretical value of the magnetic induction intensity peak matrix; is the peak value of the three-dimensional magnetic field component.

[0120] The nonlinear optimization algorithm is:

[0121]

[0122] In this way, the sensor's 3DOF position x, y, z and 3DOF attitude angles yaw, pitch, roll can be obtained.

[0123] Due to the central symmetry of the magnetic source coil, the positioning result cannot distinguish between the points (+x, +y, +z) and (-x, -y, -z) that are symmetrical about the origin. The positioning area can be limited to a half space (for example, Y>0 or Z>0, etc.) to make the positioning solution unique.

[0124] Therefore, according to the above correspondence, a nonlinear optimization algorithm is used to calculate and obtain the position and posture information of the positioning target 5, the first positioning component 2 and the second positioning component 3.

[0125] like Fig. 9 As shown, in one embodiment of the present invention, calibrating the position information of the positioning target 5 in the target detection area specifically includes:

[0126] Calculate the position information of the first positioning component 2 and the second positioning component 3 multiple times according to the three-dimensional magnetic field components of the first positioning component 2 and the second positioning component 3 within a preset time period and calculate the average position;

[0127] After a preset time, the position and posture information of the positioning target 5 in the sinusoidal magnetic field are calculated;

[0128] Calculating the position information of the first positioning component 2 and the second positioning component 3 in the sinusoidal magnetic field after a preset time period;

[0129] According to the telescopic and rotational change matrix W*S, the position information of the positioning target 5 in the sinusoidal magnetic field is calibrated based on the average position of the first positioning component 2 and the second positioning component 3 .

[0130] Based on the position information of the first positioning component 2 and the second positioning component 3, the dynamic positioning target 5 can be assisted in positioning to obtain accurate position coordinates. And according to the expansion and contraction and rotation change matrix W*S, the position of the positioning target 5 in the target detection area can be calibrated in real time, thereby avoiding the position difference of the positioning target 5 in the target detection area caused by the peristalsis of the digestive tract and body movement, and the first positioning component 2 and the second positioning component 3 being affected by human breathing and movement, so as to make the positioning more accurate.

[0131] The position and attitude information of the positioning target 5, the first positioning component 2 and the second positioning component 3 are all centered on the magnetic field generating component 1. The rotation change W is expressed as the attitude angles yaw (yaw angle), pitch (pitch angle) and roll (roll angle) of three parameters, and the rotation change S is expressed as S=diag(s x ,s y ,s z ), which can be understood as the position and posture information matrix of the X-axis, Y-axis and Z-axis.

[0132] It should be noted that the positions of the magnetic field generating component 1, the first positioning component 2 and the second positioning component 3 are relatively fixed. With the magnetic field generating component 1 as the center of the circle, the first positioning component 2 and the second positioning component 3 as reference positions can assist in determining the position coordinates of the positioning target 5 in the target detection area. When the first positioning component 2 and the second positioning component 3 are affected by human body movements and the distance relative to the center of the circle changes, the positions of the first positioning component 2 and the second positioning component 3 relative to the center of the circle are corrected by telescoping and rotating the change matrix W*S, thereby indirectly calibrating the position space in the target detection area with the magnetic field generating component 1 as the center of the circle and the first positioning component 2 and the second positioning component 3 as reference positions, so that the position of the positioning target 5 is more accurate in the space. The problem of deviation in the position of the positioning target 5 caused by the position space offset due to the change of the first positioning component 2 and the second positioning component 3 is avoided.

[0133] In one embodiment of the present invention, reference coordinates may be established in a three-dimensional spatial coordinate system according to the position information of the first positioning component 2 and the second positioning component 3, and the position coordinates of the positioning target 5 may be calculated based on the reference coordinates.

[0134] In this way, a three-dimensional space coordinate system can be established with the magnetic field generating component 1 as the center and the first positioning component 2 and the second positioning component 3 as reference positions, so that the position coordinates of the positioning target 5 in the three-dimensional space coordinate system can be intuitively reflected. Moreover, by using two positioning components, namely the first positioning component 2 and the second positioning component 3 as auxiliary positioning, the three-dimensional space coordinate system can be made more accurate, and therefore, the positioning of the position information of the positioning target 5 is more precise.

[0135] like Fig.10 and Fig.11 As shown, in one embodiment of the present invention, the position information of the positioning target 5 in the target detection area is calibrated based on the average position of the first positioning component 2 and the second positioning component 3, including:

[0136] Obtaining an average position D1 of the first positioning component 2 within a preset time length and an average position E1 of the second positioning component 3 within a preset time length;

[0137] After a preset time, the position information C1 of the positioning target 5 is obtained;

[0138] After a preset time, the position information D2 of the first positioning component 2 and the position information E2 of the second positioning component 3 are obtained;

[0139] Constructing a scaling and rotational change matrix W*S related to the first positioning component 2 and the second positioning component 3;

[0140] The position information of the positioning target 5 is calibrated to obtain new position information C2:

[0141] C2 = W·S·C1;

[0142] W*S=[D2 E2]·[D1 E1] T ·([D1 E1]·[D1 E1] T ) -1 .

[0143] In this way, the average position of the first positioning component 2 and the second positioning component 3 can be determined within a preset time period before positioning, thereby eliminating the influence of the relative position change between the magnetic field generating component 1 and the first positioning component 2 and the second positioning component 3 caused by the first positioning component 2 and the second positioning component 3 being affected by the patient's breathing or body movement during the positioning process, that is, the influence of the expansion or reduction of the distance between the first positioning component 2 and the second positioning component 3 and the magnetic field generating component 1.

[0144] For example, the average position of the first positioning component 2 and the second positioning component 3 for a period of time (such as 1 minute) is counted as the standard position D1 and E1 of the positioning result. At the next moment T2, the capsule positioning point C1, the two positioning reference points are D2 and E2 respectively. Then the calibrated capsule positioning point C2 can be calculated

[0145] Then, after solving the above influences, the telescopic and rotational change matrix W*S is constructed according to the average position D1 of the first positioning component 2 and the average position E1 of the second positioning component 3 so that the position information D2 of the first positioning component 2 and the position information E2 of the second positioning component 3 obtained after the preset time length can be corrected.

[0146] By correcting the positions of the first positioning component 2 and the second positioning component 3 through the expansion and contraction and rotation change matrix W*S, the position information of the positioning target 5 can be accurately assisted in being determined.

[0147] Through the above calibration method, the distortion of capsule positioning results caused by the movement of the human body can be eliminated, and a more stable correction positioning result can be obtained.

[0148] In one embodiment of the present invention, a storage medium is provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the micro-electromagnetic positioning method in the above embodiment are implemented.

[0149] It should be noted that the storage medium shown may be a removable storage medium 611 .

[0150] Fig.12 The structure block diagram of a computer system for implementing the storage medium of an embodiment of the present application is schematically shown.

[0151] It should be noted that Fig.12 The computer system 6 of the storage medium shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0152] like Fig.12As shown, the computer system 6 includes a central processing unit 601 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 602 (ROM) or the program loaded from the storage part 608 to the random access memory 603 (RAM). Various programs and data required for system operation are also stored in the random access memory 603. The central processing unit 601, the read-only memory 602 and the random access memory 603 are connected to each other through a bus 604. An input / output interface 605 (Input / Output interface, i.e., I / O interface) is also connected to the bus 604.

[0153] The following components are connected to the input / output interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a local area network card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the input / output interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0154] To sum up, the present invention mainly arranges the first positioning component 2 and the second positioning component 3 to assist in the positioning of the positioning target 5, so that the positioning is more accurate, and adopts a positioning method, obtains the position and posture information of the positioning target 5 through a nonlinear optimization algorithm, and then calibrates it according to the telescopic and rotation change matrix W*S, thereby avoiding the situation where the first positioning component 2 and the second positioning component 3 are offset from the magnetic field generating component 1 when they are used as fixed reference positions due to external influences.

[0155] The present invention also separates the positioning processing module 4 , thereby reducing the weight of the waist belt 12 where the magnetic field generating component 1 , the first positioning component 2 and the second positioning component 3 are located, and reducing interference with the positioning unit 51 .

[0156] Specifically, in practical applications, the power consumption can be reduced (for example, within 1.5W), and the wireless capsule endoscope can be real-time and stably tracked and positioned over a large range (radius 300mm) with high accuracy (<5mm) and high frame rate (for example, 24fps) for a long time (>10h). By reducing the required positioning frame rate, the electromagnetic coil power-on time can be reduced, further reducing the system power consumption and improving the system's battery life. This positioning system can be used to expand the application scenarios of capsule endoscopes, enhance the auxiliary diagnosis effect of capsule endoscopes, and improve the user experience.

[0157] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, systems and modules can refer to the corresponding processes in the aforementioned method implementation methods and will not be repeated here.

[0158] In several embodiments provided in the present application, it should be understood that the disclosed systems, systems and methods can be implemented in other ways. For example, the system implementation described above is only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, systems or modules, which can be electrical, mechanical or other forms. The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present implementation scheme.

[0159] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of hardware plus software functional modules. The above-mentioned integrated module implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above-mentioned software functional modules are stored in a storage medium, including a number of instructions for a computer system (which can be a personal computer, a server, or a network system, etc.) or a processor (processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0160] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present application.

Claims

1. A micro electromagnetic positioning system, characterized in that: include: A magnetic field generating assembly, comprising coils arranged in three dimensions on an excitation core, the coils being used to receive a sinusoidal current and generate a three-dimensional sinusoidal magnetic field; At least includes a first positioning component, a second positioning component and a positioning target, the first positioning component and the second positioning component are spaced apart from the magnetic field generating component to form a target detection area, the positioning target is located in the target detection area, the first positioning component includes a first three-dimensional magnetic sensor, the second positioning component includes a second three-dimensional magnetic sensor, and the positioning target includes a third three-dimensional magnetic sensor; A positioning processing module is electrically connected to the magnetic field generating component, and is communicatively connected to the first positioning component, the second positioning component and the positioning target. The positioning processing module is configured to obtain the three-dimensional magnetic field components sensed by the first three-dimensional magnetic sensor, the second three-dimensional magnetic sensor and the third three-dimensional magnetic sensor in the sinusoidal magnetic field, perform positioning calculations based on the peak values ​​of the three-dimensional magnetic field components to obtain the position and posture information of the first positioning component, the second positioning component and the positioning target, and calibrate the position information of the positioning target within the target detection area based on the obtained position information of the first positioning component and the second positioning component.

2. The micro-electromagnetic positioning system according to claim 1, characterized in that: The first positioning assembly further includes a first inertial measurement unit and a first main control module, and the first three-dimensional magnetic sensor and the first inertial measurement unit are electrically connected to the first main control module respectively; The second positioning assembly further includes a second inertial measurement unit and a second main control module, and the second three-dimensional magnetic sensor and the second inertial measurement unit are electrically connected to the second main control module respectively; The first main control module and the second main control module are both used to obtain corresponding three-dimensional magnetic field components and inertial measurement data and transmit them to the positioning processing module.

3. The micro-electromagnetic positioning system according to claim 1, characterized in that: The positioning target further includes an imaging unit, a third inertial measurement unit and a data processing module, wherein the imaging unit and the third inertial measurement unit are electrically connected to the data processing module; The imaging unit is used to capture images; The third inertial measurement unit is used to obtain inertial measurement data.

4. The micro-electromagnetic positioning system according to claim 1, characterized in that: The magnetic field generating component further includes a control board, which is used to control the coil to be energized so that the magnetic field generating component generates the three-dimensional sinusoidal wave magnetic field.

5. The micro-electromagnetic positioning system according to claim 4, characterized in that: The positioning processing module includes a control unit, which is electrically connected to the control board and is used to convert direct current into alternating current to supply the control board.

6. The micro-electromagnetic positioning system according to claim 1, characterized in that: Also includes a waist belt, the first positioning component, the second positioning component and the magnetic field generating component are installed on the waist belt and form a target detection area in the waist belt; It also includes a fixing strap and a connecting cable bundle. The positioning processing module is installed on the fixing strap and is electrically connected to the magnetic field generating component through the connecting cable bundle to excite the three-dimensional sinusoidal wave magnetic field of the magnetic field generating component.

7. The micro-electromagnetic positioning system according to claim 6, characterized in that: The fixing strap is a leg strap, and the positioning processing module is installed on the leg strap.

8. A micro-electromagnetic positioning method, characterized in that: include: Transmitting a control signal, wherein the control signal is used to instruct the magnetic field generating component to generate a three-dimensional sinusoidal magnetic field; Acquire a three-dimensional magnetic field component generated by a positioning target, a first positioning component, and a second positioning component in the sinusoidal magnetic field, wherein the positioning target, the first positioning component, and the second positioning component are all characterized as positioning objects in the sinusoidal magnetic field; According to the peak value of the three-dimensional magnetic field component of the positioning target, the position and posture information of the positioning target are obtained by solving; According to the peak values ​​of the three-dimensional magnetic field components of the first positioning component and the second positioning component, the position and posture information of the first positioning component and the second positioning component are obtained, and the position information of the positioning target in the target detection area is calibrated according to the position information of the first positioning component and the second positioning component.

9. The micro-electromagnetic positioning method according to claim 8, characterized in that: Calibrating the position information of the positioning target within the target detection area specifically includes: Calculating position information of the first positioning component and the second positioning component multiple times according to the three-dimensional magnetic field components of the first positioning component and the second positioning component within a preset time period and calculating an average position; Calculating the position and posture information of the positioning target in the sinusoidal magnetic field after a preset time period; Calculating position information of the first positioning component and the second positioning component in the sinusoidal magnetic field after a preset time period; According to the telescopic and rotational change matrix W*S, the position information of the positioning target in the sinusoidal magnetic field is calibrated based on the average position of the first positioning component and the second positioning component.

10. The micro-electromagnetic positioning method according to claim 9, characterized in that: Reference coordinates are established in a three-dimensional spatial coordinate system according to the position information of the first positioning component and the second positioning component, and the position coordinates of the positioning target are calculated based on the reference coordinates.

11. The micro-electromagnetic positioning method according to claim 9, characterized in that: Calibrating the position information of the positioning target in the sinusoidal magnetic field based on the average position of the first positioning component and the second positioning component specifically includes: Obtaining an average position D1 of the first positioning component within a preset time length and an average position E1 of the second positioning component within a preset time length; After a preset time, the location information C1 of the positioning target is obtained; After a preset time period, the location information D2 of the first positioning component and the location information E2 of the second positioning component are obtained; Constructing a scaling and rotational change matrix W*S related to the first positioning component and the second positioning component; Calibrate the position information of the positioning target to obtain new position information C2: C2 = W·S·C1; <h2 style=";text-align:left;direction:ltr">W*S=[D2 E2]·[D1 E1]<h2 style=";text-align:left;direction:ltr"> T <h2 style=";text-align:left;direction:ltr"> ·([D1 E1]·[D1 E1]<h2 style=";text-align:left;direction:ltr"> T <h2 style=";text-align:left;direction:ltr"> )<h2 style=";text-align:left;direction:ltr"> -1 <h2 style=";text-align:left;direction:ltr"> 。 12. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps in the micro-electromagnetic positioning method as claimed in any one of claims 8 to 11 are implemented.

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