胶囊内窥镜五维磁定位技术的研究  

Research on 5-Dimensional Magnetic Positioning Technique for Capsule Endoscope

作　　者：卢令 蔡乐才[2] 陈冬君 高祥[1] 李随群 LU Ling;CAI Lecai;CHEN Dongjun;GAO Xiang;LI Suiqun(Artificial Intelligence Key Laboratory of Sichuan Province,Sichuan University of Science & Engineering,Zigong 643000,Sichuan,China;Yibin University,Yibin 644000,Sichuan,China)

机构地区：[1]四川理工学院人工智能四川省重点实验室,四川自贡643000 [2]宜宾学院,四川宜宾644000

出　　处：《实验室研究与探索》2019年第2期36-40,共5页Research and Exploration In Laboratory

基　　金：企业信息化与物联网测控技术四川省高校重点实验室项目(2016 WYY 03;2017WYY02);人工智能四川省重点实验室项目(2015RYY02)

摘　　要：为了实现胶囊内窥镜在检测中的精确定位,提出了五维磁定位技术。通过给胶囊内窥镜外壳加上一个薄的轴向充磁磁环为激励源,将磁环近似看成磁偶极子,通过人体周围布置磁场传感器阵列测量磁场,运用Levenberg-Marquardt算法求解胶囊的位置和镜头的方向,实现了胶囊内窥镜的精确定位。开发五维磁定位仿真系统,通过该系统将磁体空间姿态信息以三维动画的方式显示。实验表明,定位精度和定向精度得到显著提高,很好地实现精确定位跟踪效果。In order to locate the capsule endoscope accurately,a high-accuracy 5-dimensional magnetic location technique is proposed.By adding a thin axial magnetic ring to the capsule endoscope shell as the excitation source,the magnetic ring is approximated as a magnetic dipole,and the magnetic field is measured by a magnetic field sensor array around the body,and the location of the capsule and the direction of the lens are solved by the Levenberg-Marquardt algorithm,and the precise positioning of the capsule endoscope is realized.The 5-dimensional magnetic positioning simulation system is developed,and the space posture information of the magnet is displayed in 3-dimensional animation.The experiment shows that according to the location results after calibration,the positioning accuracy and orientation accuracy have been significantly improved,and the precise location and tracking effect are well achieved.

关 键 词：胶囊机器人 五维磁定位 角度误差 位置误差 传感器标定 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]