Power capsule real-time positioning method based on permanent magnet

Abstract

A power capsule real-time positioning method based on a permanent magnet includes the steps of firstly, collecting magnetic field intensity signals of the in-vivo permanent magnet in a power capsule through an in-vitro three-dimensional magnetic sensor array; secondly, conducting wavelet transform on data measured through the three-dimensional magnetic sensor array so as to filter out noise produced by breathing, electromagnetic interference and the like; thirdly, eliminating errors from the magnetic field intensity signals filtered in the second step according to a magnetic field mathematic model through an Levenberg-Marquardt algorithm and obtaining the position of the capsule in a gastrointestinal tract, wherein the three-dimensional magnetic sensor array comprises four three-dimensional magnetic sensors located on the same plane, and each three-dimensional magnetic sensor collects three magnetic field intensities in perpendicular directions. The power capsule is positioned in the gastrointestinal tract by detecting the magnetic induction intensity of the in-vivo permanent magnet through the in-vitro magnetic sensors. Because a human body has magnetic permeation capacity and little influences a static magnetic field, a positioning system can reach higher positioning accuracy; in addition, the system has the advantages of being small in size and simple in structure.

Description

technical field [0001] The invention relates to a technology in the field of micro-medical instruments, in particular to a real-time positioning method of a dynamic capsule based on a permanent magnet. Background technique [0002] Colorectal cancer is one of the three most common cancers, and it is the second leading cause of cancer death in the world. However, it is worrying that the number of patients with colorectal cancer has increased year by year in recent years. According to the American Journal of Cancer, an estimated 96,830 cases of colon cancer and 40,000 cases of rectal cancer occurred in 2014. When colon lesions can be detected early, the incidence of colorectal cancer will be greatly reduced. Colon diagnostic methods currently used clinically include colon manometry, colon endoscopy, wireless power capsules, and radioactive scanning. However, colon manometry is to insert a catheter equipped with a manometry sensor into the human body from the anus, which bri...

AI Technical Summary

Problems solved by technology

However, the system is too complicated, and the permanent magnet in the body is reciprocated through the vibration module, thereby generating a changing magnetic field, while the three-axis coil in the body measures the magnetic field strength information of the changing magnetic field to realize the positioning of the image capsule in the body

Because the permanent magnet outside the body is reciprocating, that is, the position of the reference point is within a range, the position of the capsule in the body is also calculated within a range, so the positioning accuracy of this positioning method is not high

Images