Wireless capsule endoscope 5 degree-of-freedom positioning system and positioning method thereof

Abstract

The invention provides a wireless capsule endoscope 5 degree-of-freedom positioning system and a positioning method thereof. The positioning system includes a transmitter coil which is disposed outside a human body and orthogonal to three axes, a sampling module, a position and direction calculation module, a wireless transmission module, an external wireless receiving module and a wireless capsule endoscope located in the human body. The transmitter coil which is disposed outside the human body and orthogonal to three axes is adopted, only one single-axis induction coil is arranged inside thewireless capsule endoscope, the transmitter coil is placed near the human body, and a coil I, a coil II and a coil III of the transmitter coil sequentially emit six signals having different frequencies and amplitudes to form one cycle, that is each coil transmits two signals having different frequencies and amplitudes within one cycle; an equation set is established for calculating a three-dimensional position and a three-dimensional posture. The method is easy to integrate, the single-axis induction coil occupies less space in the wireless capsule endoscope, the wireless capsule endoscope can be positioned continuously in real time, subsequent operations can be performed conveniently, and the method is safe, reliable and low in cost.

Description

【Technical field】 [0001] The invention relates to a magnetic positioning technology, in particular to a positioning system and a positioning method for a wireless capsule endoscope with 5 degrees of freedom. 【Background technique】 [0002] At present, after the wireless capsule endoscope enters the human digestive tract, it moves freely under the joint action of gravity and gastrointestinal peristalsis, lacking real-time and precise positioning. Therefore, the pose control of the wireless capsule endoscope cannot be effectively carried out; since the image does not have the position and direction matching information of the lens, the reconstruction of the digestive tract cannot be carried out; without real-time positioning data, the doctor cannot confirm whether the capsule is in the inspection process. got stuck. [0003] Given Imaging used radio frequency technology to position wireless capsule endoscopes earlier, and Chongqing Jinshan Technology Co., Ltd. later adopted t...

AI Technical Summary

Problems solved by technology

However, X-ray imaging and CT imaging have radiation damage, so it is not suitable for long-term positioning; MRI imaging is currently more expensive

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