基于永磁体标记的胶囊内镜旋转测量定位模型设计  

A Rotation Measurement Localization Model for Capsule Endoscopy Based on Permanent Magnet Marking Technology

作　　者：李修寒 竺明月 印佳 殷悦 嵇敏洁 吴小玲[1] LI Xiuhan;ZHU Mingyue;YIN Jia;YIN Yue;JI Minjie;WU Xiaoling(Department of Biomedical Engineering,Nanjing Medical University Nanjing,210029)

机构地区：[1]南京医科大学生物医学工程系,南京210029

出　　处：《生物医学工程学进展》2018年第2期63-68,共6页Progress in Biomedical Engineering

基　　金：2017年江苏省研究生科研创新计划(KYCX17_1298);2017江苏省高等学校大学生创新创业训练计划项目(201710312019Z)

摘　　要：目的该文设计了基于永磁体标记的胶囊内镜旋转测量定位模型,为实现人体内胶囊内镜的定位奠定理论基础。方法根据Biot-Savart定律及环形电流的空间磁场分布模型,建立了全新的旋转定位模型;采用GF708型单轴磁传感器对磁场数据进行获取,并对旋转测量的定位数据进行求解。结果永磁体位于平面内随机位置时定位结果显示,磁体距离圆心r平均误差为0.19 cm,永磁体所在半径与正北方向的偏转角的平均误差为0.019 rad,永磁体轴向同所在半径所成夹角α的平均误差为0.049 rad,实验结果证明该设计切实可行。结论旋转检测具有复杂度低、精度高、成本低等优点,对人体内胶囊内镜的定位具有潜在的应用价值。Objective In this paper, a permanent magnet -based capsule endoscope rotational measurement positioning model was designed in order to establish a theoretical foundation for the realization of capsule endoscopy positioning in vivo. Methods According to the Blot - Savart law and the space magnetic field distribution model of toroidal current, a new rotation positioning model was established. The magnetic field data were acquired by the GF708 type single - axis magnetic sensor and the obtained positioning data of the rotation measure- ment were analyzed. Results When the permanent magnets were located at random positions in the plane, it showed that the average error of the distance （r） between magnets and the circle center was 0.19 cm. The mean error of the deflection angle between the radius orientation of the permanent magnets and the north direction was 0. 019 rad and the average error of angle （α） between the axial direction and radius orientation of the permanent magnets was 0. 049 rad. These results demonstrate the feasibility of this design. Conclusion Rotation detection exhibited the advantages of low complexity, high precision and low cost, and showed potential application in the positioning of human capsule endoscope in vivo.

关 键 词：GF708磁传感器 定位模型 旋转测量 胶囊内镜 

分 类 号：R445.9[医药卫生—影像医学与核医学]