Localizing and tracking of medical capsule in human by magnetic sensor array

ZHENG Xiao-lin; LI Jin; HOU Wen-sheng; HE Jin

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Localizing and tracking of medical capsule in human by magnetic sensor array

Article | 更新时间：2020-08-12

- Localizing and tracking of medical capsule in human by magnetic sensor array
- Optics and Precision Engineering Vol. 17, Issue 3, Pages: 576-582(2009)
- 作者机构：
  
  重庆大学生物工程学院重庆,400030
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212.13;TM936;R318.6
- Received：15 May 2008，
  
  Revised：25 June 2008，
  
  Published Online：25 March 2009，
  
  Published：25 March 2009
- 稿件说明：
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郑小林, 李金, 侯文生, 何金. 应用磁传感器阵列定位跟踪消化道诊疗胶囊[J]. 光学精密工程, 2009,17(3): 576-582

ZHENG Xiao-lin, LI Jin, HOU Wen-sheng, HE Jin. Localizing and tracking of medical capsule in human by magnetic sensor array[J]. Editorial Office of Optics and Precision Engineering, 2009,17(3): 576-582
郑小林, 李金, 侯文生, 何金. 应用磁传感器阵列定位跟踪消化道诊疗胶囊[J]. 光学精密工程, 2009,17(3): 576-582 DOI：

ZHENG Xiao-lin, LI Jin, HOU Wen-sheng, HE Jin. Localizing and tracking of medical capsule in human by magnetic sensor array[J]. Editorial Office of Optics and Precision Engineering, 2009,17(3): 576-582 DOI：

摘要

为实现对消化道微型诊疗装置在人体内的实时定位与跟踪

建立了一种基于三轴磁传感器阵列的磁目标实时定位跟踪系统。该系统使用磁偶极子模型作为永磁体的磁场分布模型

用44的三轴磁传感器阵列检测固定在电子胶囊中的永磁体产生的磁场

通过控制电路和USB接口适配器

将检测出的磁场信号传入计算机

使用非线性最优化方法由磁场信号解出电子胶囊的位置和姿态信息

最后由定位软件实时显示定位结果并保存数据。实验结果表明

该系统对于距离传感器阵列平面150 mm的电子胶囊

平均定位精度＜7 mm

平均定向精度＜6;同时

该系统能够对距离传感器阵列平面60~220 mm的模拟肠道内运动的电子胶囊实现实时跟踪;并且该系统对人体、织物、塑料等非磁性介质不敏感

基本上能够满足消化道微型诊疗装置在人体内的实时定位与连续跟踪的要求。

Abstract

A localizing and tracking system based on magnetic sensor array is proposed to realize the real time localizing and tracking of the micro diagnosis and treatment devices in human Gastrointestinal tract (GI tract). This localizing system uses magnetic dipole model as mathematic model for magnetic field of permanent magnet and uses a 44 three axis magnetic sensor array to measure the magnetic field. A control circuit and an USB adaptor are used to transport the signal to the computer

then

the position and posture parameters of the magnetic object are computed by a nonlinear optimization method. Finally

a program is developed to display and save the localization result in real time. The real experimental results show that the average localization error is less than 7 mm

the average orientation error is less than 6when the capsule is 150 mm away the sensor array plane. At the same time

this localizing system is able to track the capsule that moves among a simulated intestinal tract.Moreover

the localization error is not sensitive to glass

plastic

clothes

water and human body. It is conclusion that this localizing system is able to realize the real time localizing and tracking of the micro diagnosis and treatment devices in human GI tract.

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references

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