System and position tracing method for dynamic positioning and tracing internal miniature apparatus

Abstract

The present invention is system and method of dynamically positioning and tracking miniature device inside body. The system includes permanent magnet fixed onto the device inside body, at least three magnetic field sensor units fixed outside body, signal processing, A / D converting and calculating unit wired or radio connected to the magnetic field sensor units, and output device to display the motion locus of the device inside body. The present invention realizes the dynamical positioning and tracking via detecting the strength of magnetic field the device inside body produces, processing and converting detected signal, calculating the spatial coordinates of the permanent magnet inside body based on magnetic dipole model and relevant calculation formula, determining the position of the miniature device continuously and display the 3D motion locus of the miniature device. The present invention is used for check of patient.

Description

Technical field [0001] The invention relates to a system and a positioning tracking method for determining the position of a micro device in the body by detecting a magnetic field, and dynamically tracking the motion trajectory of the micro device in the body. The invention belongs to the field of medical device auxiliary technology. Background technique [0002] The accurate positioning of the micro-devices in the patient's body is of great significance in clinical medicine and medical research. So far, in terms of positioning technology of micro-devices in patients, ultrasound imaging technology positioning, nuclear medicine imaging technology (such as CT, MR, etc.) positioning, fluorescence contrast positioning and other technologies are generally used. However, these technologies have the disadvantages of high cost, complicated operation, and not suitable for long-term dynamic positioning observation. [0003] In order to effectively overcome these weaknesses, various technol...

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Problems solved by technology

[0004] However, whether these systems emit electromagnetic waves from the body or place sensors in the body to detect electromagnetic field parameters, they all involve the problem of energy supply in the body: if a battery is used, the battery cannot be small in size and the power supply time is long; The size of the device, and the efficiency is very low; if the external power supply is directly introduced into the body with a wire, it is only suitable for catheter-type medical devices (such as digestive tract catheters, urinary catheters, arterial catheters, etc.) and wired endoscopes, which limits the scope of use

At this time, the existing inventions and technologies can no longer meet the requirements, and more suitable technologies and systems are needed to realize real-time positioning and long-term dynamic tracking of micro-devices in the human body

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