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胶囊内窥镜由口腔进入消化道,可弥补传统检测的盲区,然而诊查医生无法将诊查信息与诊查部位对应,因此需要对胶囊内窥镜在体内的方位实现跟踪。本研究提出了交流励磁式胶囊内窥镜无线跟踪方法,由胶囊内的磁场传感器检测体外励磁线圈产生的磁场,通过求解磁场逆问题可获得胶囊内窥镜的方位。由于磁场随距离的三次方衰减,导致接收信号的动态范围跨度三个数量级,由此设计开发了体外可调式交变磁场发生装置,通过磁场传感器所反馈的磁场信号,自动调节产生的交变磁场强度。由样机实验可知:可调式磁场发生装置正确可行,成功实现了磁场强度的自动调节,由此改善了磁场传感器的信噪比,从而提高了跟踪精度。
Capsule endoscopy from the mouth into the digestive tract, can make up for the blind spot of traditional detection, but the examiner can not correspond to the diagnostic information and the diagnosis of the site, so you need to track the endoscopic capsule in the body. In this study, we proposed a wireless tracking method of AC excitation capsule endoscope. The magnetic field generated by the excitation coil in the capsule was detected by the magnetic field sensor in the capsule. The orientation of the capsule endoscope can be obtained by solving the inverse problem of the magnetic field. Due to the decay of the magnetic field with the third power of the distance, the dynamic range span of the received signal is three orders of magnitude. Therefore, an adjustable external magnetic field generating device is designed and developed. The generated alternating magnetic field is automatically adjusted by the magnetic field signal fed back by the magnetic field sensor strength. It can be known from the prototype experiment that the adjustable magnetic field generating device is correct and feasible and the magnetic field strength is automatically adjusted, thereby improving the signal-to-noise ratio of the magnetic field sensor and improving the tracking accuracy.