CN107773205A - A kind of capsule endoscopic magnetic control system - Google Patents
A kind of capsule endoscopic magnetic control system Download PDFInfo
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- CN107773205A CN107773205A CN201711042246.5A CN201711042246A CN107773205A CN 107773205 A CN107773205 A CN 107773205A CN 201711042246 A CN201711042246 A CN 201711042246A CN 107773205 A CN107773205 A CN 107773205A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a kind of capsule endoscopic magnetic control system, it is related to medical instruments field, including capsule endoscopic, controller, module and three-degree-of-freedom motion mechanism occur for magnetic field, the capsule endoscopic communicates to connect with the controller, the controller is used for the data for receiving capsule endoscopic transmission, and the output of resultant field generation module is calculated according to closed loop control algorithm, the magnetic field occurs module and communicated to connect with the controller, the magnetic field occurs module and produces control magnetic field, the magnetic field occurs module and is fixedly installed on the three-degree-of-freedom motion mechanism, and with the three-degree-of-freedom motion mechanism kinematic.The present invention can realize that stable suspersion and precise motion of the capsule endoscopic in human stomach optional position control, so as to realize that covering checks.
Description
Technical field
The present invention relates to medical field, especially a kind of capsule endoscopic magnetic control system.
Background technology
Disease of digestive system is that clinically most common disease, wherein enterogastric diseases occupy maximum ratio.It is traditionally right
The inspection of gastrointestinal disease, either upper digestive tract or lower digestive tract using the method for being mechanically inserted formula, cause to patient
Pain is not accommodated, reduces the compliance of patient to a certain extent, even needs to carry out under anaesthesia sometimes.Capsule endoscopic
Inspection have the advantages that it is noninvasive, painless, without cross-infection, the shortcomings that overcoming the pusher endoscope of tradition such as gastroscope, in the world
Upper many regional ray examination means as disease of intestine.
Capsule endoscopic since the advent of the world is quickly become the important means of stomach trouble clinical examination, encapsulated endoscopic mirror assembly
Generally include capsule in itself, built-in miniature video camera, can reach 160 degree of visual angle, endurance typically more than 8 hours, with
And data logger, analysis of image data software.The capsule endoscopic of main flow is passive type mostly at present, compacted with intestines and stomach
It is dynamic to advance, unstability and uncertainty be present, do not treat function, the missing of active control makes capsule be difficult to be accurately positioned disease
Become position, be mainly used in small bowel examination, do not applied to for the larger more complicated stomach inspection of cavity.
Active control mode can be divided into internal and outside two kinds according to the source of power source.Internal drive passes through in-line power
Motor or other mechanisms make capsule autonomous operation, but internal drive generally requires largely to power, and often leads to capsule chi
Very little bigger than normal, endurance is relatively low.External drive need not consume capsule energy, and easy to control, and structure is simpler, realize
It is easier to.
Shenzhen graduate school of Harbin Institute of Technology proposes a kind of active capsule endoscopic motion of magnetic control based on handyman
Control system (Chinese invention patent application publication number：CN103169443A), it is anti-to a certain extent by enteron aisle image procossing
The position of capsule is mirrored, carrys out control machinery arm to move rectangular permanent magnet, realizes the opened loop control for magnetic capsule, and
The free switching of manual guidance and independent navigation.But this method exist picture poor real, can not obtain specific position and attitude,
The shortcomings that control accuracy is low.
Ankon Photoelectric Technology (Wuhan) Co., Ltd. has invented what a kind of control capsule endoscope moved in human body alimentary canal
Device and method (Chinese invention patent application publication number：CN103222842A), permanent magnetic couple is included inside capsule endoscopic
It is extremely sub, under capsule endoscope is in stable suspersion state in precalculated position, made by the motion of bulbous exterior portion magnet in capsule-type
Sight glass completes the actions such as mobile, rotation, inclination.Shortcoming is that this device is opened loop control, for capsule position control accuracy compared with
It is low.
Hu Chao professors et al. propose a kind of side for realizing based on magnetic field induction module array and being positioned to magnet in capsule
Method, the system using magnetic dipole as mathematical modeling is established, while carry out algorithm optimization, it is accurate to obtain capsule endoscopic
Position；University Of Tianjin's precision instrument proposes a kind of magnetic positioning method based on particle filter algorithm, magnetic with photoelectron engineering college
Sensor array measures the size that permanent magnet in capsule endoscopic produces magnetic field, and the relative of capsule endoscopic is calculated with this
Position, and the estimation of the motion of addition target and magnetic disturbance in the positioning of capsule endoscopic, improve capsule position and exist
Dynamic measurement error under Temporal Sampling, improve resistance of the system for outside magnetic disturbance.Although above method realizes
Positioning for capsule endoscopic, but its magnetic field induction module is outside capsule endoscopic, when target speed becomes big
And extraneous magnetic disturbance intensity, when increasing, its position error can also become big.
Therefore, those skilled in the art is directed to developing a kind of new capsule endoscopic kinetic control system, is based on
The position feedback of capsule sensor, control magnetic field intensity realize the closed loop active control of magnetic control capsule endoscopic.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are how to obtain in real time in capsule
Position of the mirror in human body, and accurate position, motion control are stablized using the method realization of closed-loop control.
To achieve the above objectives, the invention provides a kind of capsule endoscopic magnetic control system, including capsule endoscopic,
Module occurs for controller, magnetic field and three-degree-of-freedom motion mechanism, the capsule endoscopic are used for human stomach's endoscope check,
The capsule endoscopic communicates to connect with the controller, and the controller is used for the number for receiving capsule endoscopic transmission
According to, and according to the output of closed loop control algorithm calculating resultant field generation module, module and the controller occur for the magnetic field
Communication connection, the magnetic field occur module and produce control magnetic field, and the magnetic field occurs module and is fixedly installed on the Three Degree Of Freedom
Motion, and with the three-degree-of-freedom motion mechanism kinematic, with realize fixed point of the capsule endoscopic in human body suspend and
Precise motion controls.
Further, the capsule endoscopic includes image capture module, magnetic field induction module, endoscope control mould
Block, the first permanent magnet, power supply module and capsule shell, described image acquisition module are used for the image for shooting human body alimentary canal, institute
State the space magnetic field data that magnetic field induction module is used to measure the capsule endoscopic position, described image collection mould
Block, the magnetic field induction module and the control circuit are sequentially connected, described image acquisition module, the magnetic field induction module,
The control circuit, first permanent magnet and the power supply module are arranged inside the capsule shell, and described first forever
Magnetic fields of the magnet by the second permanent magnet.
Further, the endoscope control module includes analog-digital converter and wireless communicator, the analog-digital converter
The analog signal of space magnetic field data for the magnetic field induction module to be measured is converted to data signal, the radio communication
The digital data transmission that device is used for the view data for obtaining described image acquisition module and the analog-digital converter is converted to
To the controller.
Further, the controller includes signal receiving module, computing module and signal output module, and the signal connects
Module, the computing module and signal output module communication connection are received, the signal receiving module is used to receive the glue
The data that capsule endoscope is sent, the computing module are used to perform control algolithm, calculate module occurs to the magnetic field in real time
Output signal, after the output signal result that the signal output module obtains the computing module computing is by digital-to-analogue conversion
Module output occurs to the magnetic field.
Further, the controller also includes signal processing module and closed loop control module, the signal processing module
The data received to the signal receiving module are handled, and the closed loop control module is used to calculate basic output valve and regulation
The two combination is simultaneously obtained final output signal by output valve, and changing the backward magnetic field by the signal output module occurs module
Output.
Further, the signal processing module includes Signal Pretreatment unit, filter unit, position coordinates calculating list
The initial data that endoscope control module is sent is converted to magnetic field number by member, state estimations unit, the Signal Pretreatment unit
According to；The filter unit reduces signal noise by filtering, and reduces data error；The position coordinates computing unit is included to institute
The physical model that module creation occurs for magnetic field is stated, the state that module occurs according to the magnetic field generates real-time spatial magnetic field number
According to, and the magnetic field data of the capsule endoscopic by currently obtaining calculates the position coordinates of the capsule endoscopic；
The state estimations unit carries out position according to the capsule endoscopic kinematic system physical model and estimated, and reduces data transfer
Error caused by delay.
Further, the closed loop control module includes feedforward control unit and feedback control unit, the feedforward control
Unit is obtained the capsule endoscopic stress and put down according to spatial magnetic field and the capsule endoscopic current position coordinates
The current signal value that module occurs for the magnetic field is corresponded to during weighing apparatus, based on output valve；The feedback control unit is according to
The difference of capsule endoscopic position coordinates and setting position calculates negative feedback current signal value, as regulation output valve；The base
Plinth output valve is the closed loop control module final output signal with the regulation output valve stack result.The feedback control list
Member is the feedback controller based on PID or fuzzy control method.
Further, the signal output module includes real-time D/A conversion unit, and the D/A conversion unit in real time will
The closed loop control module final output signal is converted into analog signal and exported to the magnetic field that module occurs.
Further, module, which occurs, for the magnetic field includes the second permanent magnet and magnet coil, and second permanent magnet can
Static basis magnetic field is provided, the magnet coil provides dynamically changeable magnetic field, and the magnet coil is driven by current amplifier, root
Electric current is adjusted according to the output signal of the controller and then adjusts the magnetic field size that module occurs for the magnetic field, and the magnetic field occurs
Magnetic fields caused by module are in the first permanent magnet.
Further, the three-degree-of-freedom motion mechanism is able to carry out the horizontal direction x in plane, the Vertical Square in plane
The z translational motion into y and vertical plane, the position that module occurs for the magnetic field is adjusted, and then adjust the capsule endoscopic
Position in human body.
Relative to prior art, the present invention has advantages below：
1st, using magnetic field the second permanent magnet generation stabilizing magnetic field caused by module occurs for the present invention, with magnet coil to magnetic field
It is adjusted, so that capsule endoscopic stable suspersion in human body；
2nd, controller of the invention includes signal processing module and closed loop control module, and data are entered by the two modules
Row processing and computing, can obtain more accurate result of calculation, so as to better control over the position of capsule endoscopic, reach essence
The purpose really controlled.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the capsule endoscopic structural representation of the present invention；
Modular structure schematic diagram occurs for the magnetic field that Fig. 2 is the present invention；
Module and capsule endoscopic relative position and capsule endoscopic stressing conditions occur for the magnetic field that Fig. 3 is the present invention
Schematic diagram；
Fig. 4 is the three-dimensional structure diagram of the three-degree-of-freedom motion mechanism of the present invention；
Fig. 5 is a kind of control method flow chart of capsule endoscopic magnetic control system of the present invention；
Wherein, 1- image capture modules, 2- magnetic field induction modules, 3- endoscope control modules, the permanent magnets of 4- first, 5- are supplied
Electric module, the permanent magnets of 6- second, 7- magnet coils, 8- bases, 9- large arm, 10- forearms, 11- side plates, 12- upright slide block guide rails
Mechanism, 13- supports, 14- magnetic field generators.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, and following examples are to this hair
Bright explanation and the invention is not limited in following examples.
A kind of capsule endoscopic magnetic control system includes capsule endoscopic, controller, magnetic field generation module and three freely
Motion is spent, capsule endoscopic communicates to connect with controller, and capsule endoscopic is used for human stomach's endoscope check, controls
Device processed is used for the data for receiving capsule endoscopic transmission, and calculates resultant field according to closed loop control algorithm and the defeated of module occurs
Go out, magnetic field occurs module and communicated to connect with controller, and magnetic field occurs module and produces control magnetic field, and module fixed setting occurs for magnetic field
In three-degree-of-freedom motion mechanism, and with three-degree-of-freedom motion mechanism kinematic, to realize fixed point of the capsule endoscopic in human body
Suspend and precise motion controls.
As shown in figure 1, capsule endoscopic includes image capture module 1, magnetic field induction module 2, endoscope control module
3rd, the first permanent magnet 4, power supply module 5 and capsule shell.Image capture module 1 uses imaging sensor, disappears for shooting human body
Change the image in road, magnetic field induction module 2 is used for the space magnetic field data for measuring capsule endoscopic position, IMAQ mould
Block 1, magnetic field induction module 2 and control circuit are sequentially connected, image capture module 1, magnetic field induction module 2, control circuit, first
Permanent magnet 4 and power supply module 5 are arranged inside capsule shell.Wherein, magnetic field induction module 2 uses Hall sensor, according to
Hall effect principle, magnetic field intensity is converted into corresponding output voltage and changed, then amplified circuit output, it is converted to capsule
The magnetic field intensity of formula endoscope present position, measurement range 10-4~10-1T。
Endoscope control module 3 includes analog-digital converter and wireless communicator, and analog-digital converter is used for magnetic field induction mould
The analog signal for the space magnetic field data that block 2 measures is converted to data signal, and wireless communicator is used to obtain image capture module 1
The digital data transmission that the view data and analog-digital converter taken is converted to is to controller.
The controller of capsule endoscopic magnetic control system, it is defeated that controller includes signal receiving module, computing module and signal
Go out module, signal receiving module, computing module and signal output module communication connection, signal receiving module connect including radiofrequency signal
Circuit and modulate circuit are received, signal receiving module is used to receive the data of capsule endoscopic transmission and carries out respective handling；Fortune
Calculate module to be used to perform control algolithm, calculate the output signal for magnetic field occurring module in real time, computing module is gone here and there including several
Mouth is used to communicate with signal receiving module and signal processing module, and the output that signal output module obtains computing module computing is believed
Number result, which passes through, to be occurred module to magnetic field after digital-to-analogue conversion and exports, and signal output module is limited using Beijing Altay development in science and technology
The USB3102 type capture cards of company, analog input scope ± 10V, maximum sampling rate 250Ksps, precision 16bits；Simulation
Measure output area ± 10V, maximum output speed 100Ksps, precision 16bits.
As shown in Fig. 2 module, which occurs, for resultant field includes the second permanent magnet 6 and magnet coil 7, the second permanent magnet 6 is used for
Static basis magnetic field is provided, magnet coil 7 is used to provide dynamically changeable magnetic field, and magnet coil 7 is driven by current amplifier, according to
The magnetic field size of module occurs for the output signal regulation electric current of controller and then regulation magnetic field, and magnetic field caused by module occurs for magnetic field
Act on the first permanent magnet 4.For second permanent magnet 6 in the surface of magnet coil 7, the material of the second permanent magnet 6 is neodymium iron boron
N35, remanent magnetism Br=1.2T, magnetization M=963kA/m；Magnet coil 7 is wound using diameter 1mm copper enameled wire, outside coil
Footpath 100mm, internal diameter 20mm, height 30mm, the circle of the number of turn about 1200.
The dimensional structure diagram of three-degree-of-freedom motion mechanism is illustrated in figure 4, using SCARA robot modelings, mainly
Comprising base 8, large arm 9, forearm 10, side plate 11, upright slide block guide rail mechanism 12, end support 13 is sent out to install above-mentioned magnetic field
Raw device.In Fig. 4, the base 8 of mechanism is connected with large arm 9, and the motor and decelerator in the first joint are filled inside base 8.The end of large arm 2
End connection forearm 10, the motor and decelerator of the front end installation second joint of forearm 10.The rotary motion in first and second joint
Provide the free degree that end support 13 translates in the horizontal direction.Vertical side plate 11 is arranged on the end of forearm 10, to fixation
Guide rail slide block travel mechanism.The inside of upright slide block guide rail mechanism 12 includes screw mandrel slide block movement mechanism, is provided with motor to drive
Dynamic screw mandrel, band movable slider move along a straight line, there is provided the free degree of vertical direction translation.The three degree of freedom that machine includes can be realized
The translational motion of end-effector in three dimensions.Support 13 is installing magnetic field generator 14.
As shown in figure 5, the schematic flow sheet of capsule endoscopic motion is controlled for capsule endoscopic magnetic control system.
Controller also includes signal processing module and closed loop control module, and signal processing module receives to signal receiving module
Data handled, closed loop control module be used to calculating basic output valve and regulation output valve and the two is combined obtain it is final
Output signal, backward magnetic field is changed by signal output module module output occurs；Signal output module includes real-time digital-to-analogue conversion
Closed loop control module final output signal is converted into analog signal and exported to magnetic field to occur by unit, real-time D/A conversion unit
Module.
Signal processing module includes Signal Pretreatment unit, filter unit, position coordinates computing unit, state estimations list
The initial data that endoscope control module 3 is sent is converted to magnetic field data by member, Signal Pretreatment unit, and specifically, signal is pre-
The packet that processing module is sent to capsule endoscopic decodes, and packet includes 4 bytes, and preceding two byte data is number
Whether effective to verification data bag according to head, rear two byte data is the high low byte of magnetic field data, changes into integer D, Ran Houyou
Bs=1.4 (D-711) can be converted into magnetic field size.
Filter unit reduces signal noise by filtering, and reduces data error, specifically, filter module uses Kalman
Wave filter, Kalman filter are that one kind utilizes linear system state equation, data are observed by system input and output, to system
State carries out the algorithm of optimal estimation；Because observation data include the noise in system and the influence of interference, therefore will be optimal
The process of estimation regards filtering as.
Position coordinates computing unit includes the physical model for magnetic field occurring module creation, and the shape of module occurs according to magnetic field
State generates real-time spatial magnetic field data, and the magnetic field data of the capsule endoscopic by currently obtaining is calculated in capsule-type
The position coordinates of sight glass；Specifically, position coordinates computing unit passes through magnetic field model, the electric current of current electromagnetic coil and capsule institute
Magnetic induction intensity in position, the anti-position for solving capsule, as position feedback quantity.Computational methods are as follows, capsule endoscopic
The magnetic induction density B measuredsIt is relevant with the electric current I of capsule coordinate z and magnet coil 7：
Bs(z, I)=BPM(z)+I·bcoil(z)
Wherein BsThe magnetic induction intensity that (z, I) measures for capsule, BPM(z) magnetic field and the pass of capsule coordinate are produced for permanent magnet
System, bcoil(z) it is magnetic field caused by magnet coil 7 and the relation of capsule coordinate under unit electric current, both are known function.When
Preceding coil current I is also known quantity, BsOnly z function, z coordinate can be calculated by difference.
State estimations unit carries out position according to capsule endoscopic kinematic system physical model and estimated, and reduces data transfer
Error caused by delay, specifically, positional information of the state estimations unit by this and above estimate this cycle capsule
Velocity amplitude vk.By the force analysis to capsule endoscopic now, acceleration magnitude a now can be obtainedstart.By above-mentioned vk
With astartIt is updated in the capsule endoscopic position function for estimating next controlling cycle：
Analyze the stress relation of now capsule again by the positional value tried to achieve, the acceleration of next controlling cycle can be drawn
Size aend, this value is updated to a new z value is obtained in above-mentioned position function, obtain new aend, iteration by that analogy
The z values of approaching to reality value can repeatedly be tried to achieve.Iterations is more, and the capsule position estimated is closer to actual value.
Closed loop control module includes feedforward control unit and feedback control unit, and feedforward control unit is according to space magnetic field point
Cloth and capsule endoscopic current position coordinates, the electric current that module occurs for magnetic field is corresponded to when obtaining capsule endoscopic stress balance
Signal value, based on output valve；Feedback control unit calculates according to the difference of capsule endoscopic position coordinates and setting position
Negative feedback current signal value, as regulation output valve；Basic output valve is closed loop control module with regulation output valve stack result
Final output signal.Feedback control unit is the feedback controller based on PID or fuzzy control method.
Specifically, as shown in figure 3, position and the electric current of module occur according to current magnetic field for feedforward control module, can obtain
The distribution B of space magnetic fieldPMAnd b (z)coil(z), wherein BPM(z) it is magnetic-field component, b caused by the second permanent magnet 6coil(z) to be single
Magnetic-field component caused by position current electromagnetic coil 7.The relation in magnetic force and magnetic field as suffered by the first permanent magnet 4 of capsule endoscopic
The relation F of magnetic force and capsule position can be obtainedPMAnd f (z)coil(z), wherein FPM(z) it is magnetic force caused by the second permanent magnet 6 point
Amount, fcoil(z) it is magnetic force component caused by unit current electromagnetic coil 7.Capsule endoscope present bit is obtained by signal processing module
Coordinate z is put, the suffered magnetic force for it is expected capsule endoscopic stress balance here can be obtained, electricity when can calculate stress balance with this
Size of current needed for magnetic coil 7：
As the basic output valve that module occurs to magnetic field.
Feedback controller of the feedback control unit based on PID approach.Including three parts：Proportional component, integral element, differential
Link；Proportional component, it is directly proportional to current control period capsule endoscopic position deviation：
Ip=KpΔzk
Wherein, IpIt is proportional component output current signal, KpIt is proportional component constant, Δ zkFor current control period capsule
Formula endoscope position deviation；
Integral element, it is directly proportional to the accumulative capsule endoscopic position deviation before current control period：
Wherein, IiIt is integral element output current signal, KiIt is integral element constant,Current control period with
Preceding accumulative capsule endoscopic position deviation；
Differentiation element, and the capsule endoscopic position deviation of current control period and a upper controlling cycle difference into just
Than：
Id=Kd(Δzk-Δzk-1)
Wherein, IdFor integral element output current signal, KdIt is integral element constant, Δ zkIt is current control period capsule
Formula endoscope position deviation, Δ zk-1The capsule endoscopic position deviation of a upper controlling cycle；
Feedback control compensation amount is the summation of above-mentioned three parts, i.e. feedback control output signal current signal is
I2=Ip+Ii+Id
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of capsule endoscopic magnetic control system, it is characterised in that mould occurs including capsule endoscopic, controller, magnetic field
Block and three-degree-of-freedom motion mechanism, the capsule endoscopic communicate to connect with the controller, and the controller is used to receive
The data that capsule endoscopic is sent, and according to the output of closed loop control algorithm calculating resultant field generation module, the magnetic field
Generation module communicates to connect with the controller, and the magnetic field occurs module and produces control magnetic field, and the magnetic field occurs module and consolidated
Surely the three-degree-of-freedom motion mechanism is arranged at, and with the three-degree-of-freedom motion mechanism kinematic.
2. such as claim 1 capsule endoscopic magnetic control system, it is characterised in that the capsule endoscopic includes IMAQ
Outside module (1), magnetic field induction module (2), endoscope control module (3), the first permanent magnet (4), power supply module (5) and capsule
Shell, described image acquisition module (1), the magnetic field induction module (2) and the control circuit (3) are sequentially connected, described image
Acquisition module (1), the magnetic field induction module (2), the control circuit (3), first permanent magnet (4) and the power supply mould
Block (5) is arranged inside the capsule shell, magnetic fields of first permanent magnet (4) by the second permanent magnet (6).
3. such as claim 2 capsule endoscopic magnetic control system, it is characterised in that the endoscope control module (3) includes mould
Number converter and wireless communicator, the analog-digital converter are used for the space magnetic field number for measuring the magnetic field induction module (2)
According to analog signal be converted to data signal, the wireless communicator is used for the image for obtaining described image acquisition module (1)
The digital data transmission that data and the analog-digital converter are converted to is to the controller.
4. such as claim 1 capsule endoscopic magnetic control system, it is characterised in that the controller include signal receiving module,
Computing module and signal output module, the signal receiving module, the computing module and the signal output module communication link
Connect, the signal receiving module is used to receive the data that the capsule endoscopic is sent, and the computing module is used to perform control
Algorithm processed, calculates the output signal for the magnetic field occurring module in real time, and the signal output module transports the computing module
By digital-to-analogue conversion, module output occurs obtained output signal result for the magnetic field backward.
5. such as claim 4 capsule endoscopic magnetic control system, it is characterised in that the controller also includes signal processing module
And closed loop control module, the data that the signal processing module receives to the signal receiving module are handled, the closed loop
Control module is used to calculate basic output valve and regulation output valve and combine the two to obtain final output signal, by the signal
Module output occurs for the backward magnetic field of output module conversion.
6. such as claim 5 capsule endoscopic magnetic control system, it is characterised in that the signal processing module is located in advance including signal
Unit, filter unit, position coordinates computing unit, state estimations unit are managed, the Signal Pretreatment unit controls endoscope
The initial data that module (3) is sent is converted to magnetic field data；The filter unit reduces signal noise by filtering, and reduces data
Error；The position coordinates computing unit includes the physical model for the magnetic field occurring module creation, is sent out according to the magnetic field
The state of raw module generates real-time spatial magnetic field data, and the magnetic field number of the capsule endoscopic by currently obtaining
According to the position coordinates for calculating the capsule endoscopic；The state estimations unit is according to the capsule endoscopic kinematic system
Physical model carries out position and estimated, and reduces error caused by data transfer delay.
7. such as claim 5 capsule endoscopic magnetic control system, it is characterised in that the closed loop control module includes feedforward control
Unit and feedback control unit, the feedforward control unit is according to spatial magnetic field and the capsule endoscopic current location
Coordinate, the current signal value that module occurs for the magnetic field is corresponded to when obtaining the capsule endoscopic stress balance, based on
Output valve；The feedback control unit calculates negative-feedback electricity according to the difference of the capsule endoscopic position coordinates and setting position
Signal value is flowed, as regulation output valve；The basic output valve is the closed-loop control with the regulation output valve stack result
Module final output signal.
8. such as claim 7 capsule endoscopic magnetic control system, it is characterised in that the signal output module includes real-time digital-to-analogue
The closed loop control module final output signal is converted into analog signal and defeated by converting unit, the D/A conversion unit in real time
Go out to the magnetic field and module occurs.
9. such as claim 1 capsule endoscopic magnetic control system, it is characterised in that module, which occurs, for the magnetic field includes the second permanent magnetism
Body (6) and magnet coil (7), second permanent magnet (6) can provide static basis magnetic field, and the magnet coil (7) provides
Dynamically changeable magnetic field, the magnet coil (7) are driven by current amplifier, and electric current is adjusted according to the output signal of the controller
And then adjust the magnetic field size that module occurs for the magnetic field.
10. such as claim 1 capsule endoscopic magnetic control system, it is characterised in that the three-degree-of-freedom motion mechanism can be held
Z translational motion in horizontal direction x in row plane, the vertical direction y and vertical plane in plane, adjusts the magnetic field and mould occurs
The position of block, and then adjust position of the capsule endoscopic in human body.
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