Capsule endoscope system capable of obtaining real-time position and posture and working method of capsule endoscope system

Abstract

The invention provides a capsule endoscope system capable of obtaining a real-time position and posture and a working method of the capsule endoscope system. The working method comprises the following steps: S1, collecting data of an inertial sensor from radio frequency communication equipment of a capsule endoscope, and carrying out operation processing on the obtained data on a remote server; carrying out data noise reduction through the remote server, and removing irregular sensor data; S2, carrying out position and posture solving according to accelerated velocity and angular velocity data obtained by an MEMS (Micro-electromechanical Systems) inertial sensor of the capsule endoscope, so as to obtain real-time position and posture information of the capsule endoscope; S3, carrying out error compensation on the obtained real-time position and posture information, and adjusting the obtained position and posture information values through operation, so as to enable positioning and posture determination of the capsule endoscope to be more accurate.

Description

technical field [0001] The invention relates to the field of automatic control of medical equipment, in particular to a capsule endoscope system and a working method thereof for obtaining real-time position and posture. Background technique [0002] Capsule endoscopy is a digestive tract endoscopy system whose shape and size are similar to capsules and pills. After being swallowed by the examinee, the capsule endoscope will move along the digestive tract, photograph and inspect the inner wall of the digestive tract along the way, and transmit the captured images through wireless communication. The image is transmitted to the external terminal, and the doctor can make a diagnosis through the captured image data. [0003] Capsule endoscopy products currently on the market rely on the natural peristalsis of the human digestive tract to perform random movements. After being swallowed by the examinee, the capsule endoscope is a blind spot in the human body, and doctors cannot kno...

AI Technical Summary

Problems solved by technology

[0003] Capsule endoscopy products currently on the market rely on the natural peristalsis of the human digestive tract to perform random movements. After being swallowed by the examinee, the capsule endoscope is a blind spot in the human body, and doctors cannot know the real-time status of the capsule endoscope during the examination. The position and posture information can only be located and diagnosed based on the image information after the inspection and the experience of the doctor. This inspection method increases the probability of missed diagnosis and misdiagnosis, so it can be known in real time when the capsule endoscope is in the inspected. The motion state and relative position information in the body are extremely important for doctor's diagnosis, which also makes the position and attitude measurement method of capsule endoscope in the human body become a research hotspot in this technical field

At present, the theoretically proposed methods for the positioning and attitude measurement of capsule endoscopes are mainly based on the principle of magnetic field positioning, through the magnetic sensor embedded in the capsule endoscope, the in vitro workstation to establish a magnet array, and calculate the theoretical model of the magnetic field. The magnetic field strength and the theoretical magnetic field model are used to achieve positioning. This method is severely disturbed by the outside world and difficult to implement. In addition, X-ray ray ranging is used to determine the position of the capsule, but this method cannot determine the attitude of the capsule and the X-ray ray Existence of radiation is harmful to human body

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