应用磁传感器阵列定位跟踪消化道诊疗胶囊

郑小林; 李金; 侯文生; 何金

doi:null

您当前的位置：

首页 >

文章列表页 >

应用磁传感器阵列定位跟踪消化道诊疗胶囊

微纳技术与精密机械 | 更新时间：2020-08-12

- 应用磁传感器阵列定位跟踪消化道诊疗胶囊
- Localizing and tracking of medical capsule in human by magnetic sensor array
- 光学精密工程 2009年17卷第3期页码：576-582
- 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：
  
  国家自然科学基金资助项目(No.30700160)();重庆市自然科学基金资助项目(No.CSTC2006BA5005)()
- DOI：
  中图分类号： TP212.13;TM936;R318.6
- 收稿日期：2008-05-15，
  
  修回日期：2008-06-25，
  
  网络出版日期：2009-03-25，
  
  纸质出版日期：2009-03-25
- 稿件说明：
移动端阅览
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.

关键词

Keywords

references

梁学领,郑小林,侯文生,等. 消化道微型诊疗胶囊核医学图像定位系统设计[J]. 中国医学影像技术,2006,22(10):1592-1594. LIANG X L,ZHENG X L,HOU W SH, et al.. A design for locating the micro-medical device in human alimentary canal using nuclear imaging technology[J]. China Journal of Medical Imaging Technology, 2006,22(10):1592-1594.(in Chinese)[2] 姜萍萍,颜国正,王文兴. 人体全消化道微型介入式诊查系统研制[J]. 机器人技术及应用, 2003(4):33-35. JIAN P P,YAN G ZH,WAN W X. Researches on invasive micro-system for whole GI tract physiological parameters monitoring[J]. Robot Technology and Application,2003(4):33-35.(in Chinese)[3] FISCHER D, SCHREIBER R, LEVI D, et al.. Capsule endoscope: the localization system[J]. Gastrointestinal Endoscopy Clinics of North America, 2004(14):25-31.[4] 姜萍萍,颜国正,郭旭东,等. 用于体内胶囊式遥测系统的电磁跟踪定位方法[J]. 光学精密工程,2007,15(8):1247-1252. JIANG P P, YAN G ZH,GUO X D, et al.. Electro-magnetic tracking system for capsule-typed telemetric device[J]. Opt. Precision Eng.,2007,15(8):1247-1252.(in Chinese)[5] 李鸿炜,颜国正,胡芳芳. 微型胃肠道介入式诊疗装置的便携定位系统设计[J]. 光学精密工程,2008,16(3):492-499. LI H W,YAN G ZH,HU F F. Portable positioning system for micro gastrointestinal invasive diagnosing device[J]. Opt. Precision Eng.,2008,16(3):192-499.(in Chinese)[6] WANG X N, MENG M Q, HU C. A localization method using 3-axis magnetoresistive sensors for tracking of capsule endoscope . Proc. of the 28th IEEE EMBS, 2006:2522-2525.[7] HU C, MENG M Q.-H, Mandal M. Efficient Linear Algorithm for Magnetic Localization and Orientation in Capsule Endoscopy . Proc. of the 2005 IEEE, 27th EMBC,2005:162-167.[8] 侯文生,郑小林,彭承琳,等. 体内微型诊疗装置磁定位简化模型的实验研究[J]. 仪器仪表学报,2005,26(9):895-897. HOU W SH, ZENG X L, PENG CH L,et al.. Study of simplified magnetic location model for micro medical device inside human body[J]. Chinese Journal of Scientific Instrument, 2005,26(9):895-897.(in Chinese)[9] 冯慈璋. 电磁场[M]. 北京:高等教育出版社, 1983. FENG C ZH. Electromagnetic Field[M]. Beijing: Higher Education Press, 1983. (in Chinese)[10] 樊叔维,张兴志. 全局优化算法自适应模拟退火-遗传算法的研究[J]. 光学精密工程,1999,7(4):16-21. FAN SH W, ZHANG X ZH. Study of the global optimal method self adaptation simulated annealing genetic algorithm[J]. Opt. Precision Eng.,1999,7(4):16-21.(in Chinese)

浏览量

447

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

微型光纤磁传感器的设计与制作

管道机器人无线电磁自适应定位技术