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Tracking and positioning method and system for wireless capsule endoscope

A capsule endoscope, tracking and positioning technology, applied to endoscopy, medical science, sensors, etc., can solve the problem of inability to wirelessly locate capsule endoscopes, and achieve the effect of improving accuracy and increasing working space

Active Publication Date: 2021-03-16
YUANHUA ROBOTICS PERCEPTION & AI (SHENZHEN) TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present application provides a wireless capsule endoscope tracking and positioning method and system to solve the problem that the wireless capsule endoscope cannot be accurately positioned in the prior art

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  • Tracking and positioning method and system for wireless capsule endoscope
  • Tracking and positioning method and system for wireless capsule endoscope
  • Tracking and positioning method and system for wireless capsule endoscope

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Embodiment Construction

[0038] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0039] At present, the wireless capsule endoscope mainly relies on the natural peristalsis of the intestinal tract to advance in the human body, and the capsule is not subject to external control. When the doctor finds the suspected lesion area, he cannot accurately locate the capsule. In view of the above problems, relevant researchers have proposed a variety of methods for positio...

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Abstract

The embodiment of the invention is suitable for the technical field of medical examination and inspection instruments and services, and provides a tracking and positioning method and system for a wireless capsule endoscope, and the method comprises the steps: activating a sensor subarray for measuring a current magnetic field from a magnetic sensor array, wherein the current magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and an in-vitro permanent magnet, determining the current five-dimensional pose of the wireless capsule based on the sensor subarray, the five-dimensional pose including a three-dimensional position and a two-dimensional magnetic moment direction of the wireless capsule; and then determining the sixth-dimensional pose of the wireless capsule according to the three-dimensional position and the two-dimensional magnetic moment direction, wherein the positioning pose of the wireless capsule is composed of the five-dimensional pose and the sixth-dimensional pose. By adopting the method, the wireless capsule endoscope can be accurately positioned.

Description

technical field [0001] The application belongs to the technical field of medical inspection and testing instruments and services, and in particular relates to a tracking and positioning method and system for a wireless capsule endoscope. Background technique [0002] Wireless capsule endoscopy is a painless and non-invasive endoscopic technique, and it is also an important technical means for complete inspection of the digestive tract. For example, the wireless capsule endoscope can completely examine a patient's small intestine, an area that neither conventional gastroscopy nor traditional enteroscopy can reach. [0003] Typically, wireless capsule endoscopes are only the size of a capsule that patients can swallow. Because it is equipped with lighting modules, camera modules, image processing modules, wireless transmission modules, etc., after entering the patient's digestive tract, the capsule can capture images in the patient's body and transmit the images to the outsid...

Claims

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Application Information

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IPC IPC(8): A61B1/00A61B1/04A61B5/06
CPCA61B1/00016A61B1/00158A61B1/041A61B5/062
Inventor 孟李艾俐许杨昕李可喻赵梓淇周越
Owner YUANHUA ROBOTICS PERCEPTION & AI (SHENZHEN) TECH LTD
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