Micro-electromagnetic positioning system, positioning method and storage medium thereof

Abstract

The application discloses a micro electromagnetic positioning system, a positioning method and a storage medium thereof, and relates to the technical field of positioning systems.The micro electromagnetic positioning system comprises a magnetic field generating assembly, coils arranged in three dimensions of an excitation magnetic core, and is used for receiving sinusoidal wave current and generating sinusoidal wave magnetic fields in three dimensions; a first positioning assembly and a second positioning assembly are both arranged at intervals from the magnetic field generating assembly to form a target detection area, a 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; and a positioning processing module is electrically connected with the magnetic field generating assembly, the first positioning assembly, the second positioning assembly and the positioning target.The positioning system can make the positioning more accurate by setting the first positioning assembly and the second positioning assembly to assist the positioning of the position of the positioning target; and the position of the target can be further calibrated by using a calibration method after positioning based on the micro electromagnetic positioning system.

Description

Technical Field

[0001] This invention relates to the field of micro-electromagnetic positioning technology, and in particular to a micro-electromagnetic positioning system, positioning method and its storage medium. Background Technology

[0002] Capsule endoscopy is widely used for medical examinations and auxiliary diagnosis of the digestive tract. The complex and winding environment of the digestive tract, coupled with numerous factors influencing intestinal motility, leads to significant individual variations in the time and process of capsule endoscopy movement within the digestive tract. The capsule's movement speed within the digestive tract is uneven, often exhibiting local displacement and posture changes, and is also affected by digestive tract peristalsis and body movement. Visual images captured solely by capsule endoscopy are insufficient for accurately establishing the three-dimensional structure of the digestive tract and locating lesions. Utilizing magnetic positioning technology to locate the capsule endoscope within the body can obtain spatial position and posture information beyond the capsule image, potentially aiding in establishing the three-dimensional structure of the digestive tract and locating lesions.

[0003] Current magnetic positioning technologies for capsule endoscopy in the human body either require the human body to remain near a fixed positioning device, or the positioning device needs to cover most of the torso, affecting the body's movement, or have high power consumption, limiting the continuous positioning time or timeliness, or have poor positioning accuracy, making it difficult to distinguish overlapping intestinal pathways. These magnetic positioning technologies all suffer from drawbacks to varying degrees, including poor portability, high power consumption, low positioning frequency, and unsatisfactory positioning accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a micro-electromagnetic positioning system, positioning method and its storage medium to solve the technical problems in the prior art where positioning devices are fixed and not easy to carry, occupy a large space and have poor positioning accuracy, making it difficult to distinguish overlapping small intestinal pathways.

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

[0006] It includes at least a first positioning component, a second positioning component, and a positioning target. The first positioning component and the second positioning component are both 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] The positioning processing module is electrically connected to the magnetic field generating component and communicatively connected to the first positioning component, the second positioning component, and the positioning target. The positioning processing module is configured to acquire 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 attitude 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, wherein 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 component further includes a second inertial measurement unit and a second main control module, wherein the second three-dimensional magnetic sensor and the second inertial measurement unit are electrically connected to the second main control module.

[0010] Both the first main control module and the second main control module are used to acquire the 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, wherein 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 acquire inertial measurement data.

[0014] As a further improvement of the present invention, the system further includes: the magnetic field generating component further includes a control board, the control board being used to control the coil to be energized so that the magnetic field generating component generates the sinusoidal magnetic field in three dimensions.

[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 includes: a waist belt, wherein 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 within 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, thereby exciting the magnetic field generating component to generate a sinusoidal magnetic field in three dimensions.

[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 objectives, the present invention also 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] The three-dimensional magnetic field components generated by the positioning target, the first positioning component, and the second positioning component in the sinusoidal magnetic field are obtained, 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] The position and attitude information of the positioning target are obtained by solving based on the peak values ​​of the three-dimensional magnetic field components of the positioning target.

[0022] Based on the peak values ​​of the three-dimensional magnetic field components of the first and second positioning components, the position and attitude information of the first and second positioning components are obtained, and the position information of the positioning target within the target detection area is calibrated based on the position information of the first and second positioning components.

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

[0024] Within a preset time period, the position information of the first positioning component and the second positioning component are calculated multiple times based on the three-dimensional magnetic field components of the first positioning component and the second positioning component, and the average position is calculated.

[0025] After a preset time period, the position and attitude information of the positioning target in the sinusoidal magnetic field are calculated;

[0026] After a preset time period, the position information of the first positioning component and the second positioning component in the sinusoidal magnetic field is calculated;

[0027] Based on the scaling and rotation transformation 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 based on 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 including:

[0030] Obtain the average position D1 of the first positioning component within a preset time period and the average position E1 of the second positioning component within a preset time period;

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

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

[0033] Construct the scaling and rotation transformation matrix WS associated with the first positioning component and the second positioning component;

[0034] The new location information C2 is obtained by calibrating the location information of the target:

[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 storing a computer program, which, when executed by a processor, implements the steps of any of the above-described micro-electromagnetic positioning methods.

[0038] Compared with the prior art, the present invention has the following advantages: the location of the target can be located by using a three-dimensional sinusoidal magnetic field; at the same time, by setting a first positioning component and a second positioning component to assist in the location of the target, the positioning can be 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 achieve longer battery life.

[0039] The present invention further employs a calibration method after positioning based on a micro-electromagnetic positioning system. The target position is calibrated by scaling and rotating the matrix W*S, which makes the obtained positioning coordinates more accurate and more realistic, and avoids the influence of digestive tract peristalsis and body movement. Attached Figure Description

[0040] Figure 1 This is a connection block diagram of a micro-electromagnetic positioning system according to one embodiment of the present invention.

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

[0042] Figure 3 This is a schematic diagram of a waist belt according to one embodiment of the present invention.

[0043] Figure 4 This 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 This is a block diagram of the positioning target connected to the positioning processing module in one embodiment of the present invention.

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

[0046] Figure 7 This is a schematic diagram of a system in which a positioning unit receives a first positioning component, a second positioning component, and a positioning target, according to one embodiment of the present invention.

[0047] Figure 8 This is a flowchart of a micro-electromagnetic positioning method according to one embodiment of the present invention.

[0048] Figure 9 This is a flowchart illustrating the calculation of the position information of the calibrated positioning target within the target detection area according to one embodiment of the present invention.

[0049] Figure 10 This is a schematic diagram showing the positional changes of the first positioning component, the second positioning component, and the magnetic field generating component in one embodiment of the present invention.

[0050] Figure 11 This is a flowchart illustrating the calibration of the position information of the positioning target within the target detection area according to one embodiment of the present invention.

[0051] Figure 12 This is a computer system architecture block diagram suitable for using a storage medium to implement the embodiments of this application. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included 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 diagnoses. The target detection area is formed by the sinusoidal magnetic field generated by the micro-electromagnetic positioning system, and the capsule endoscope moves within the target detection area. The micro-electromagnetic positioning system positions the capsule endoscope's position and orientation within the target detection area.

[0054] The magnetic field generating component 1 includes coils arranged in three dimensions of the excitation core, the coils being used to receive sinusoidal current and generate a sinusoidal magnetic field in three dimensions;

[0055] It includes at least 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 acquire 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 a sinusoidal magnetic field, perform positioning calculations based on the peak values ​​of the three-dimensional magnetic field components to obtain the position and attitude 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 in the target detection area based on the obtained position information of the first positioning component 2 and the second positioning component 3.

[0058] Thus, by performing positioning calculations on the positioning target 5 through the positioning processing module 4, the precise position and attitude of the positioning target 5 can be obtained. The sinusoidal magnetic field generated by the magnetic field generating component 1 can reduce system power consumption, reduce magnetic field interference, and improve the signal-to-noise ratio and positioning accuracy. It is also the key to achieving low power consumption, portability (reducing hardware size and weight), and improved positioning accuracy in 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 obtains the position and attitude 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 obtained more accurately.

[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 and MMC5603NJ that are 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 components in the sinusoidal magnetic field.

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

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

[0064] The magnetic field generating component 1, the first positioning component 2, and the second positioning component 3 are mounted on the same waist belt. The waist belt is worn around the waist of the human body, thereby forming a target detection area in the central area of ​​the waist belt. This target detection area can locate the positioning target 5, i.e., the capsule endoscope, inside the human digestive tract.

[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 electrically connected to the magnetic field generating component 1 through the connecting cable bundle 44, thereby exciting the three-dimensional sinusoidal magnetic field of the magnetic field generating component 1.

[0066] The fixed strap 43 can be represented as a leg strap. The positioning processing module 4 is set on the leg strap and is set separately 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. It can also reduce the load on the waist belt, thereby reducing interference to the positioning processing module 4.

[0067] In other embodiments, the securing strap 43 may be represented as a strap secured elsewhere, such as a wrist strap or other device outside the body.

[0068] In one embodiment, the positioning calculation includes solving for the position and attitude information of the positioning target 5, the first positioning component 2, and the second positioning component 3; it also includes establishing reference coordinates in a three-dimensional spatial coordinate system based on 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, wherein the first three-dimensional magnetic sensor 21 and the first inertial measurement unit 22 are electrically connected to the first main control module 23.

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

[0071] Both the first main control module 23 and the second main control module 33 are used to acquire the 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 acquire inertial measurement data of the corresponding components to assist in positioning calculations, so that the position and attitude data 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, to feed back the three-dimensional magnetic field component, and to 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 to make the positioning calculation more accurate.

[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, wherein 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 acquire 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 set, but can include multiple sets. For example, two sets of imaging units 52 distributed at both ends of the capsule can simultaneously, alternately or independently capture images of the digestive tract.

[0080] like Figure 6As shown, in one embodiment of the present invention, the magnetic field generating component 1 includes a control board 11, an excitation core, and three sets of coils of different dimensions wound on the excitation core. 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, with each set of coils wound around the core in three dimensions and energized. For example... Figure 6 As shown, the three dimensions are perpendicular to each other.

[0082] Specifically, the three sets of coils are orthogonally arranged with their centers overlapping to generate a linearly independent magnetic field distribution with significant spatial differences, and to significantly suppress magnetic field mutual inductance interference between the coils. An internal soft magnetic core is used to significantly enhance the magnetic field signal, reduce the number of coil turns, current, and power consumption requirements, reduce coil weight, and enhance the portability and stability of the micro-electromagnetic positioning system. The coils can be wound according to the required magnetic field parameters, or commercially available coils meeting specifications, such as Premo3D20LW and 3D28LW, can be used. The overall weight of the coil can be controlled within 50-100g, and the size can be controlled to approximately 4cm on each side.

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

[0084] Furthermore, in conjunction with the above embodiments, the fixed cable 43 and the connecting cable bundle 44 are used to electrically connect the control board 11 through the connecting cable bundle and convert DC power into AC power. The control board 11 controls the output of AC power, and the AC power excites the magnetic field generating component 1 to generate a sinusoidal magnetic field.

[0085] Thus, under the control of the control unit 41, direct current can be converted into sinusoidal alternating current with a specific frequency, current, and voltage. Furthermore, the control unit 41 of the positioning processing module 4 provides real-time control of the control board 11, thereby reducing the load on the magnetic field generating component.

[0086] The system uses a DC power supply (high-energy-density rechargeable lithium battery, such as 18650, 21700 lithium batteries, or lithium-ion polymer batteries) to ensure overall portability. It converts DC power into standard sinusoidal AC power of specific amplitude (within a safe voltage range), frequency, and phase to power the electromagnetic coil and generate a sinusoidal magnetic field signal. At the same signal peak value, the power consumption of the sinusoidal signal is only half that of the square wave pulse signal, effectively reducing the power consumption of the micro-electromagnetic positioning system and improving the continuous positioning endurance. The sinusoidal electrical signal has no abrupt changes, and for inductive coils, it does not cause magnetic field signal distortion or high-frequency harmonic interference, resulting in 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. The positioning unit 42 is communicatively connected to the first positioning component 2, the second positioning component 3, and the positioning target 5. It acquires the three-dimensional magnetic field components sensed by the first positioning component 2, the second positioning component 3, and the positioning target 5. Based on the three-dimensional magnetic field components, it calculates the position and attitude information of the positioning target 5, the first positioning component 2, and the second positioning component 3. Based on the position information of the first positioning component 2 and the second positioning component 3, it calibrates the position information of the positioning target 5 within the target detection area.

[0088] The positioning unit 42 can receive three-dimensional magnetic field components fed back by sensors in the first positioning component 2, the second positioning component 3, and the positioning target 5. Based on these three-dimensional magnetic field components, it performs positioning calculations to obtain the position and attitude information of the first positioning component 2, the second positioning component 3, and the positioning target 5. Using the position information of the first positioning component 2 and the second positioning component 3, it establishes coordinates with reference positions for the first positioning component 2 and the second positioning component 3, and calibrates the position coordinates of the positioning target 5. Therefore, by using two reference positions, the position of the positioning target 5 can be made more accurate.

[0089] The positions of the first positioning component 2 and the second positioning component 3 are relatively fixed within the target detection area, thus serving as fixed reference positions. Based on this, the three-dimensional magnetic field components of the dynamic positioning target 5 are detected and its coordinates relative to the fixed reference positions are calculated, enabling real-time tracking and positioning.

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

[0091] In one embodiment of the present invention, a micro-electromagnetic positioning method is provided. This calibration method can be applied to the aforementioned micro-electromagnetic positioning system. After the micro-electromagnetic positioning system positions the capsule endoscope and obtains its position within the target detection area, the micro-electromagnetic positioning system calibrates the position of the capsule endoscope using the positioning method. This can solve the problem of the capsule endoscope's positioning position deviating from its actual position due to the influence of peristalsis and body movement in the human digestive tract.

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

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

[0094] S2: Obtain 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: Based on the peak values ​​of the three-dimensional magnetic field components of the positioning target 5, the position and attitude information of the positioning target 5 are obtained.

[0096] S4: Based on 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 attitude information of the first positioning component 2 and the second positioning component 3 are obtained.

[0097] S5: The position information of the positioning target 5 within the target detection area is calibrated based on the position information of the first positioning component 2 and the second positioning component 3.

[0098] Thus, the three-dimensional magnetic field components of the positioning target 5 can be obtained through a three-dimensional sinusoidal magnetic field to calculate its position and attitude information. Further calibration using the position information from the first positioning component 2 and the second positioning component 3 makes the position information of the positioning target 5 more accurate.

[0099] In step S1, the magnetic field generating component 1 includes coils arranged in three dimensions of the excitation core. The coils are used to receive sinusoidal current and generate a sinusoidal magnetic field in three dimensions. Furthermore, the positioning target 5 is located 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 generates a sinusoidal alternating current:

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

[0102] Based on the generation of a sinusoidal magnetic field by a sinusoidal alternating current through a coil:

[0103]

[0104] Where k is the coil serial number (corresponding to the X, Y, Z coils), a k For peak current, w k b is the angular frequency of the sine wave. k The phase of the sine wave, It represents the peak value of the magnetic flux density (a vector containing three spatial components).

[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, which can sense three-dimensional magnetic field components.

[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 using a function fitting algorithm, and the peak values ​​of the three-dimensional magnetic field components (magnetic field measurement peak values) are calculated. The function fitting algorithm can effectively eliminate background magnetic field and signal noise interference, extracting accurate magnetic field signal data. The fitting formula is as follows (taking a single-axis magnetic field value as an example):

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

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

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

[0110] Thus, based on the theoretical values ​​of the peak magnetic field measurement and peak magnetic induction intensity matrices obtained from the fitting analysis, the position and attitude information can be easily obtained by solving the nonlinear optimization algorithm.

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

[0112] Specifically, the theoretical value of the peak magnetic flux density matrix is ​​calculated as follows:

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

[0114]

[0115] Wherein, μ0 is the free space permeability, M k The peak value of the equivalent magnetic moment of coil k. Let k be the equivalent unit magnetic moment vector of coil k. It is a spatial position vector. It is a spatial unit vector.

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

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

[0118]

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

[0120] The nonlinear optimization algorithm is as follows:

[0121]

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

[0123] Due to the central symmetry of the magnetic source coil, the positioning results cannot distinguish between points (+x,+y,+z) and (-x,-y,-z) that are centrally symmetric about the origin. The positioning result can be made unique by limiting the positioning region to a half-space (e.g., Y>0 or Z>0).

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

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

[0126] Within a preset time period, the position information of the first positioning component 2 and the second positioning component 3 are calculated multiple times based on the three-dimensional magnetic field components of the first positioning component 2 and the second positioning component 3, and the average position is calculated.

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

[0128] After a preset time period, the position information of the first positioning component 2 and the second positioning component 3 in the sinusoidal magnetic field is calculated;

[0129] Based on the scaling and rotation transformation 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 located to obtain accurate position coordinates. Furthermore, according to the scaling and rotation transformation matrix W*S, the position of the positioning target 5 within the target detection area can be calibrated in real time, thereby avoiding positional differences in the positioning target 5 within the target detection area caused by the influence of digestive tract peristalsis, body movement, and the influence of human breathing and movement on the first positioning component 2 and the second positioning component 3, resulting in more accurate positioning.

[0131] In this context, 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 rotational change W is represented by three attitude angles: yaw, pitch, and roll. The rotational change S is represented as S = diag(s) x ,s y ,s z This can be understood as a matrix of position and attitude information along the X, Y, and Z axes.

[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. Using the magnetic field generating component 1 as the center and the first and second positioning components 2 and 3 as reference positions, the coordinates of the target 5 within the target detection area can be determined. When the distances of the first and second positioning components 2 and 3 relative to the center change due to human movement, the positions of the first and second positioning components 2 and 3 relative to the center are corrected using a scaling and rotation transformation matrix W*S. This indirectly calibrates the spatial position of the target 5 within the target detection area, using the magnetic field generating component 1 as the center and the first and second positioning components 2 and 3 as reference positions. This makes the position of the target 5 more accurate within this space. It avoids the problem of positional deviations of the target 5 caused by spatial shifts in the first and second positioning components 2 and 3 due to changes in their positions.

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

[0134] In this way, a three-dimensional spatial 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. This allows the position coordinates of the positioning target 5 in the three-dimensional spatial coordinate system to be displayed intuitively. Furthermore, by using the two positioning components, namely the first positioning component 2 and the second positioning component 3, as auxiliary positioning, the three-dimensional spatial coordinate system can be made more accurate. Therefore, the positioning information of the positioning target 5 is more precise.

[0135] like Figure 10 and Figure 11 As shown, in one embodiment of the present invention, calibrating the position information of the positioning target 5 within the target detection area based on the average position of the first positioning component 2 and the second positioning component 3 includes:

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

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

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

[0139] Construct a scaling and rotation transformation matrix W*S related to the first positioning component 2 and the second positioning component 3;

[0140] The new position information C2 is obtained by calibrating the position information of the positioning target 5.

[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 before positioning, thereby eliminating the influence of the relative position change between the first positioning component 2 and the second positioning component 3 caused by the patient's breathing or human movement during the positioning process, that is, the influence of the increase or decrease 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 over a period of time (e.g., 1 minute) is used as the standard positions D1 and E1 for the positioning result. For a subsequent time T2, the capsule positioning point is C1, and the two positioning reference points are D2 and E2, respectively. The calibrated capsule positioning point C2 can then be calculated.

[0145] Then, after addressing the aforementioned effects, a scaling and rotation transformation matrix W*S is constructed based on 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 a preset time period can be corrected.

[0146] By using the scaling and rotation transformation matrix W*S to correct the positions of the first positioning component 2 and the second positioning component 3, the position information of the positioning target 5 can be accurately determined.

[0147] The above calibration method can eliminate the distortion of capsule positioning results caused by changes in the human torso, and obtain a more stable calibration positioning result.

[0148] In one embodiment of the present invention, a storage medium is provided, which stores a computer program. When the computer program is executed by a processor, it implements the steps in the micro-electromagnetic positioning method described above.

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

[0150] Figure 12 A schematic block diagram of a computer system architecture for implementing the storage medium of the embodiments of this application is shown.

[0151] It should be noted that, Figure 12 The computer system 6 with the storage medium shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0152] like Figure 12As shown, the computer system 6 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output interface 605 (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, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, 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 disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 610 as needed so that computer programs read from it can be installed into the storage section 608 as needed.

[0154] In summary, the present invention mainly sets up a first positioning component 2 and a second positioning component 3 to assist in the positioning of the target 5, making the positioning more accurate. Furthermore, the positioning method uses a nonlinear optimization algorithm to obtain the position and attitude information of the target 5 and then performs calibration based on the scaling and rotation transformation matrix W*S. This avoids the situation where the first positioning component 2 and the second positioning component 3, when used as fixed reference positions, are affected by external factors and deviate from the magnetic field generating component 1.

[0155] The present invention also separates the positioning processing module 4, thereby reducing the load on 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 to the positioning unit 51.

[0156] Specifically, in practical applications, power consumption can be reduced (e.g., to within 1.5W), enabling wireless capsule endoscopes to achieve real-time stable tracking and positioning over a large area (radius 300mm) with high accuracy (<5mm) and a high frame rate (e.g., 24fps) for extended periods (>10h). By reducing the required positioning frame rate, the energizing time of the electromagnetic coil can be reduced, further lowering system power consumption and improving system battery life. This positioning system can be used to expand the application scenarios of capsule endoscopes, enhance their assisted diagnostic effects, and improve the user experience.

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

[0158] In the several embodiments provided in this application, it should be understood that the disclosed systems, methods, and approaches can be implemented in other ways. For example, the system implementations described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between systems or modules may be electrical, mechanical, or other forms. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0159] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or in a combination of hardware and software functional modules. The integrated module implemented as a software functional module can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause a computer system (which may be a personal computer, server, or network system, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A microelectromagnetic positioning system, characterized by, include: A magnetic field generating component includes coils arranged in three dimensions of an excitation core, the coils being used to receive sinusoidal current and generate a sinusoidal magnetic field in three dimensions; It includes at least a first positioning component, a second positioning component, and a positioning target. The first positioning component and the second positioning component are both 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. The positioning processing module is electrically connected to the magnetic field generating component and communicatively connected to the first positioning component, the second positioning component, and the positioning target. The positioning processing module is configured to acquire 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 attitude 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 component further includes a first inertial measurement unit and a first main control module, wherein the first three-dimensional magnetic sensor and the first inertial measurement unit are electrically connected to the first main control module. The second positioning component further includes a second inertial measurement unit and a second main control module, wherein the second three-dimensional magnetic sensor and the second inertial measurement unit are electrically connected to the second main control module. Both the first main control module and the second main control module are used to acquire the 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 also 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 acquire inertial measurement data.

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

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. The control unit 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, It also includes a waist belt, on which the first positioning component, the second positioning component and the magnetic field generating component are mounted and form a target detection area within 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, thereby exciting the magnetic field generating component to generate a sinusoidal magnetic field in three dimensions.

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: Transmit a control signal, which instructs the magnetic field generating component to generate a three-dimensional sinusoidal magnetic field; The three-dimensional magnetic field components generated by the positioning target, the first positioning component, and the second positioning component in the sinusoidal magnetic field are obtained, wherein the positioning target, the first positioning component, and the second positioning component are all characterized as positioning objects in the sinusoidal magnetic field. The position and attitude information of the positioning target are obtained by solving based on the peak values ​​of the three-dimensional magnetic field components of the positioning target. Based on the peak values ​​of the three-dimensional magnetic field components of the first and second positioning components, the position and attitude information of the first and second positioning components are obtained, and the position information of the positioning target within the target detection area is calibrated based on the position information of the first and second positioning components.

9. The micro-electromagnetic positioning method according to claim 8, characterized in that, Calibrling the position information of the target within the target detection area specifically includes: Within a preset time period, the position information of the first positioning component and the second positioning component are calculated multiple times based on the three-dimensional magnetic field components of the first positioning component and the second positioning component, and the average position is calculated. After a preset time period, the position and attitude information of the positioning target in the sinusoidal magnetic field are calculated; After a preset time period, the position information of the first positioning component and the second positioning component in the sinusoidal magnetic field is calculated; Based on the scaling and rotation transformation 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, Based on the position information of the first positioning component and the second positioning component, a reference coordinate is established in a three-dimensional spatial coordinate system, and the position coordinates of the positioning target are calculated based on the reference coordinate.

11. The micro-electromagnetic positioning method according to claim 9, characterized in that, The specific steps for 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 include: Obtain the average position D1 of the first positioning component within a preset time period and the average position E1 of the second positioning component within a preset time period; After a preset time period, the location information C1 of the positioning target is obtained; After a preset time period, the position information D2 of the first positioning component and the position information E2 of the second positioning component are obtained; Construct a scaling and rotation transformation matrix W*S related to the first positioning component and the second positioning component; The new location information C2 is obtained by calibrating the location information of the target: C2 = W·S·C1; W*S = [D2 E2] - [D1 E1] T • ([D1 E1] - [D1 E1] T ) -1 .

12. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps in the micro-electromagnetic positioning method as described in any one of claims 8 to 11.

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