Magnetic field-based positioning and guidance system for capsule endoscopy.

Abstract

The invention relates to a system and method for determining the three-dimensional position and / or orientation of capsule endoscopy progressing through the digestive tract based on multi-axis magnetic field measurements and guiding it to targeted positions via external magnetic actuators. The system includes a sensor matrix, a data acquisition and processing unit, and a user interface. Environmental magnetic noise and deviations are eliminated through calibration and compensation algorithms, and data is transmitted to clinical analysis and visualization systems via real-time monitoring. The system can operate in manual and / or automatic guidance modes and is applicable with different sensor geometries, communication protocols, and control strategies.

Description

MAGNETIC FIELD-BASED LOCATION DETERMINATION FOR CAPSULE ENDOSCOPY AND GUIDANCE SYSTEM Technical Area This invention enables the positioning or orientation of capsule endoscopy to be determined using multiaxial magnetic field testing. Determined by field measurements and, if necessary, actuators that generate an external magnetic field. It relates to a system and method for directing through something. State of the Art In the current state of the technique, capsule endoscopy systems generally involve passive advancement and It offers limited location tracking. It features external magnetic field steering and high accuracy. Localization approaches exist; however, calibration and electromagnetic deviations elimination, reliable integration of multi-axis measurements and closed-loop control. Improvements are needed in areas of flexible integration into clinical workflows. It is heard. Known solutions mostly rely on the natural peristaltic movement of the capsule; this Therefore, the instantaneous position of the capsule and the precise anatomical correspondence of the visualized area. It cannot always be determined with certainty. This negatively affects measurement accuracy. It can also influence guidance and monitoring that can be adapted to clinical workflows. The integration of its functions remains limited. Detailed Description of the Invention This detailed description explains the invention's magnetic field-based positioning for capsule endoscopy. It describes sample implementations related to the identification and guidance system; This is solely for the purpose of better understanding the subject and does not impose any limiting effects. It does not give birth. 1. The invention comprises the following main components: • Sensor matrix: Multiaxially displays the magnetic field generated by the capsule. A sensor array that detects and provides spatial sampling; • Data acquisition and processing unit: Collects sensor data with timestamps; Calibration / compensation, filtering, and position-orientation estimation; A computing platform that generates control commands for guidance if necessary; • Capsule endoscopy device: A device that travels through the digestive tract and provides imaging capabilities. a capsule containing a unit and at least one magnet; • Magnetic actuator arrangement: Enables external guidance of the capsule, an arrangement containing a small number of coils / arrays of coils and / or external permanent magnets; • User interface (GUI): Real-time location and orientation information. Software that provides visualization and offers manual and automatic navigation options; • Power and protection infrastructure: Stable DC supply, voltage Circuits that provide protection against fluctuations and ensure safe distribution. Steps to how the invention works: 1. Pre-calibration and environmental preparation: Before the capsule is used, the sensor matrix, It establishes a reference baseline by measuring ambient magnetic field conditions. This step, It supports the modeling of both fixed and time-varying deviations. 2. Real-time monitoring: After the capsule is ingested, the tracking on the capsule is activated. The field created by the magnet is continuously measured by the sensor matrix; the data is then transmitted. It is forwarded to the processing unit. 3. Calibration and compensation: The processing unit is made of hard iron and soft iron. Applies corrections for soft iron effects; offset / scale alignment. And measurement consistency is ensured through numerical filtering. 4. Position-orientation estimation: Calibrated multi-point area measurements determine the capsule's orientation. to calculate its position (x, y, z) and orientation (yaw–pitch–roll) in space Dipole and / or multipole field models are combined with the sensor. Fusion methods are used. 5. Orientation (optional): Target location and orientation, and current status. compared with magnetic control strategies such as PID, MPC, LQR or similar. Commands are generated to the actuator system. With a closed-loop approach, the deflection is constant. The capsule is reduced in size, held in a specific area if necessary, or moved to the target. 2 6. Visualization and interaction: GUI, the capsule's path and current position in 3D. It offers a choice between manual and automatic modes. Application Data access, calibration calls, and external programming interface (API) System integrations are supported. Sensor Matrix Structure and Communication: • Geometry: The sensors will be M×N to provide spatial sampling density. They are arranged in the following order (M and / or N ≥ 2). The matrix represents the clinical setup, patient modular cards that are scalable according to anatomy and target area It consists of. • Placement and tolerance: Sensor spacing and board orientations; This will reduce projection-related uncertainties and the risk of "ghost / shadow positions". It is designed in this way. • Communication: Sensors connect to the processing unit via I²C, SPI, CAN, UART, Ethernet or These can be connected using combinations of these. Multiplexer / addressing The modules enable the management of multiple sensors on the same line. • Sampling: The timing is configured and the relevant channels are selected in the measurement cycles. Data is collected by activating it; sufficient for both monitoring and routing. Temporal resolution is provided. Processing Unit and Software Pipeline: • Preprocessing: Offset removal, scale correction, axis alignment, and digital processing. Filtering steps are being applied. • Compensation: Hard / soft iron effects are eliminated; model-based dipole / multi- with polar correspondence and / or machine learning-based regression / classification Resilience to environmental disturbances is being increased. • Estimation: Position and orientation calculations are continuously updated; uncertainty metrics and Confidence scores are maintained. • Control: Actuator commands are controlled within safe limits according to the selected control strategy. It is created within; some coils are temporarily deactivated or the current Measures such as restricting profiles can be implemented. • Registration and integration: Timestamped data recording, reporting, and health informatics. Export options compliant with standards (e.g., DICOM / HL7) It is supported. 3 All or some of these steps can be performed on a computer-readable medium. the method in question when it can be stored and executed by at least one processor through a computer program that contains instructions for carrying out the steps It can be accomplished. Magnetic Actuator Arrangement: • Configuration options: Single / multiple coil, Halbach configuration and / or external permanent. Various magnet configurations can be used. • Driving and safety: Current / voltage limiting, thermal monitoring, and fail-safe stopping. The mechanisms are predictable. • Placement: Fixed platform, mobile apparatus, or robotic system depending on the clinical setting. Carrier solutions are possible. Power and Protection: • Power supply: Stable direct current is provided for the sensor and processing layers, and Regulations are being put in place to address fluctuations. • Protection: Overcurrent / voltage protection, heat management, and EMC / EMI requirements are taken into consideration. Data integrity and access control are ensured. Software and Usage Modes: • GUI: Real-time location / orientation visualization, measurement / warning indicators, It offers registration / reporting and user interaction features. • Verbs: Manual mode: The user specifies the target and direction inputs, and the processing unit... It generates the appropriate commands. Automatic mode: Target guidance via closed-loop control and It provides positional hold. • API: Programmatic access to calibration, analysis, and visualization functions. by enabling the control of sensors collectively or individually. He knows. The components described here include: sensor type, matrix geometry, and communication infrastructure. in terms of control strategy and actuator placement in equivalent ways It is applicable. The expert in the field can apply different components without exceeding the scope of the invention. Similar technical results can be achieved with these combinations. 4

Claims

1. The invention describes magnetic field-based localization for capsule endoscopy and It relates to the routing system and its characteristic is; a) progressing through the digestive tract and equipped with at least one imaging unit Capsule endoscopy device containing at least one magnet, b) to detect the magnetic field generated by the capsule in a multi-axis manner Arranged in an M×N configuration, where M and N ≥ 2 At least one sensor matrix that enables scalable modular structures, c) To ensure the collection and transmission of measurements from sensors. including I²C, SPI, CAN, UART, Ethernet and combinations thereof. It works by also connecting multiple devices via multiplexer and addressing modules. at least one that enables the sensor to be managed over the same line communication interface (multiplier / addressing modules if required) including), d) calibration and compensation operations on sensor data by calculating the three-dimensional position and orientation of the capsule and at least one process configured to generate commands for routing unit, e) single or multiple coils, coil arrays, Halbach arrangement and external permanent Containing magnets, as well as current / voltage limiting and thermal monitoring. according to commands received from the processing unit equipped with security measures by generating an external magnetic field, the capsule is guided to the targeted position and orientation. at least one magnetic actuator arrangement that enables its direction, f) Real-time three-dimensional position and orientation information of the capsule visualizes, switches between manual and automatic operating modes a system that allows and presents the system status and warnings to the user. It is characterized by including user interface (GUI) components.

2. Magnetic field-based localization for capsule endoscopy according to Claim 1 and It relates to the steering system and its feature is calibration / compensation. the effects of hard iron and soft iron on the module remediation, offset / scale adjustment, model-based dipole / multipole matching and it must include at least one machine learning-based prediction technique.

3. Magnetic field-based localization for capsule endoscopy according to claim 1. and relates to the guidance system, its characteristic feature being the magnetic field of the capsule. PID, Model in order to minimize deviation during steering. Predictive Control (MPC), LQR and / or their adaptive or robust Routing that implements closed-loop control algorithms with its derivatives It has an audit unit.

4. Magnetic field-based localization for capsule endoscopy according to Claim 1 and It relates to the guidance system and its feature is that the measurements are time-stamped. recording, reporting and exporting processes providing health features such as DICOM and / or HL7 for integration with external systems. It has a data recording and integration unit that supports IT standards. It is the fact that.

5. Magnetic field-based localization for capsule endoscopy according to Claim 1 and It relates to the routing system and its characteristic feature is stable direct current supply. providing, including, overcurrent / overvoltage and / or EMC / EMI protection measures, as well as a power and protection infrastructure that enables fail-safe shutdown in the event of a malfunction It is having.

6. The invention describes magnetic field-based localization for capsule endoscopy and It is a redirection method, • the magnetic field created by the magnet on the capsule sensor measured by the matrix, • Transmission of measurements to the processing unit via the communication interface, • Calibration and compensation procedures are applied by the processing unit. and calculating the position and orientation of the capsule, • calculated current status and target location and / or orientation Comparison of controls for magnetic actuator arrangements production, • the capsule's orientation to the targeted position using an external magnetic field It is characterized by its guidance and the inclusion of specific steps. 6 7. Magnetic field-based localization for capsule endoscopy according to claim 6. and is a guidance method, with the system operating in manual and automatic modes. operation, closed-loop control of the capsule's deviation from the target position continuously reducing the volume and holding the capsule in the specified position or The tasks involve transporting the goods to the target location.

8. Magnetic field-based localization for capsule endoscopy according to claim 6. and is a redirection method, a computer-readable environment. stored on it and executed by at least one processor, the processing unit to perform at least one of the steps of the method It is the possession of a computer program product that contains configuration instructions. 7