Method and system for tracking internal mini device

Abstract

A method and system for tracking the minitype device in vivo are disclosed, wherein the system includes a built-in permanent magnet, a function sensor, a MPU, a wireless radio circuit and a minitype device in vivo of the transmitting antenna, and also includes as array detecting unit, a portable data logger, a vitro data receiving and processing system for the data processing and the displaying center. The vitro data receiving and processing system is used for receiving the minitype device data and the tacking orientation. The tracking method synthetizes a linear algorithm of the magnetic location, a nonlinear optimization algorithm, and a radio frequency antenna synthesis locating method, which can fast obtain the complete 6-dimension position orientation parameter of the vivo minitype device, tracks the position and the direction of the vivo minitype device in real-time, and ensures the accuracy, the reliability, and the real time of the system. The invention can provide the preciseorientation and the movement trace, the direction and the speed information for the vivo minitype medical device, and also provides the important information about the symptom and the pathology partsetc.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a method for tracking a micro-device in a body. Background technique [0002] With the development of micro-mechanical and micro-electronic processing technologies, more and more minimally invasive and non-invasive micro-medical devices have been applied to clinical disease diagnosis and treatment in patients. In order to ensure and improve the effectiveness of the diagnosis and treatment process and to better conduct basic medical research, it is particularly important to perform real-time positioning and tracking of the spatial position and direction of these micro medical devices in the body. [0003] At present, on how to locate the micro-device in the body, available technologies include X-ray examination, CT examination, nuclear magnetic resonance examination, three-dimensional ultrasound examination, computer vision, detection of radio frequency wireless signal...

AI Technical Summary

Problems solved by technology

The magnetic field positioning and orientation method has higher positioning accuracy than the antenna positioning, but because the nonlinear optimization method is usually used for calculation, the calculation method is complicated and the calculation time is very long, so it limits and affects the positioning and orientation speed of the micro-device in the body, and it is difficult to achieve accurate positioning. Rapid real-time tracking of microdevices in vivo

Moreover, the magnetic field positioning and orientation method can only provide the three-dimensional position change and the two-dimensional direction change of the micro-device in the body, and lacks one-dimensional direction information, that is, the lack of parameters reflecting the change of the micro-device in the body around the main axis, and it cannot be omnidirectional (three-dimensional position and three-dimensional direction) to reflect the position and orientation changes of the micro-device in the body

Images