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Wireless capsule endoscope positioning method and apparatus, and terminal equipment

A technology of capsule endoscope and positioning method, which is applied in the fields of endoscopy, medical science, surgery, etc. It can solve the problems of wireless capsule positioning, etc., and achieve the effect of increasing the positioning update frequency, maintaining positioning accuracy, and increasing the working space

Active Publication Date: 2021-03-19
YUANHUA ROBOTICS PERCEPTION & AI (SHENZHEN) TECH LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the embodiment of the present application provides a wireless capsule endoscope positioning method, device and terminal equipment to solve the problem of inability to accurately locate the wireless capsule endoscope when using the wireless capsule endoscope for disease diagnosis and treatment in the prior art. problem with positioning

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  • Wireless capsule endoscope positioning method and apparatus, and terminal equipment
  • Wireless capsule endoscope positioning method and apparatus, and terminal equipment
  • Wireless capsule endoscope positioning method and apparatus, and terminal equipment

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Embodiment Construction

[0036] 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.

[0037] 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 wireless capsule endoscope positioning method and apparatus, and terminal equipment. The method comprises the following steps: activating a sensor sub-array from a magnetic sensor array when an in-vitro driver is used for driving a wireless capsule to move; measuring a magnetic field by the sensor sub-array to obtain current magnetic field data; calculating a current five-dimensional pose of the wireless capsule based on the magnetic field data, wherein the five-dimensional pose comprises three-dimensional positions and two-dimensional magnetic moment directions of the wireless capsule; and carrying out normal vector fitting on the two-dimensional magnetic moment directions to obtain a sixth-dimensional pose of the wireless capsule, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule. By adopting the method to position the wireless capsule endoscope, certain positioning precision can be maintained while the positioning updating frequency is increased.

Description

technical field [0001] The application belongs to the technical field of medical inspection instruments and services, and in particular relates to a positioning method, device and terminal equipment of 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 outside of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/00A61B1/04
CPCA61B1/00016A61B1/00158A61B1/041
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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