CN104887230A - Inclined magnetic tracking system for swallowing type electronic capsule - Google Patents
Inclined magnetic tracking system for swallowing type electronic capsule Download PDFInfo
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Abstract
The invention discloses an inclined magnetic tracking system for a swallowing type electronic capsule. The inclined magnetic tracking system for the swallowing type electronic capsule comprises a magnetic field generator, a wireless data receiving and sending module, a data processing platform and an inclined wireless magnetic sensing module, wherein the magnetic field generator, the wireless data receiving and sending module and the data processing platform are arranged outside a body, and the inclined wireless magnetic sensing module is arranged on the swallowing type electronic capsule. The inclined wireless magnetic sensing module is in wireless communication connection with the wireless data receiving and sending module. The wireless data receiving and sending module is in communication connection with the magnetic field generator and the data processing platform. According to the inclined magnetic tracking system for the swallowing type electronic capsule, the inclined sensing and magnetic field sensing combined method is adopted, and direction tracking with multiple degrees of freedom can be achieved simply through one magnet exciting coil; the size and power consumption of the magnetic field generator in the tracking system are reduced, and the solving time of the track algorithm is shortened; the sample data size of each turn of tracking is reduced, and the sampling time of each turn of tracking is shortened; tracking precision is improved.
Description
Technical field
The present invention relates to medical apparatus and instruments, particularly relating to a kind of inclination angle type magnetic tracking system for following the tracks of formula of the swallowing electronic capsule orientation in body.
Background technology
The formula electronic capsule of swallowing can enter digestive tract by oral, the miniature video camera system of being carried by it by the image wireless transmission in digestive tract to external, or by multiple sensors that it carries, the multiple information in gastrointestinal tract is detected and gathered, or by actuator, sampling biopsy is carried out to local organization.But doctor cannot know the formula electronic capsule of swallowing position in vivo, thus cannot be corresponding with concrete position by indagation information, and also capsule cannot be driven exactly to move according to the orientation of capsule.
At present, for the track and localization of swallowing formula electronic capsule, numerous scientific research personnel achieves lot of research.The Lab-in-a-Pill capsule endoscope of Britain adopts magnetic marker positioning mode, and following range is within 18cm.The people such as Aziz place cylindrical permanent magnet in capsule, and detect magnetic field by three external axle magnetoresistive transducers and follow the tracks of capsule, in the following range of 10cm × 10cm × 10cm, maximum tracking error reaches 3cmm.The people such as Kim, by installing four hall effect sensors in capsule, detect outside magnetic field intensity, to follow the tracks of capsule orientation.Report following range be: the relative distance of capsule and Magnetic Field Source in x direction from 0 to 50mm, in y direction from-50mm to+50mm, in z direction from 200mm to 300mm, maximum position error 15mm.The space that the following range of above static state or quasistatic magnetic field detection method and tracking accuracy are still improved.
Because the low-frequency noise of electronic component and earth's magnetic field signal are difficult to filtering in magnetostatic signal, and by means of only magnetic field detection determination orientation, cause unknown quantity number in the inverse problem of magnetic field many, solve complexity.Therefore advantages such as adopting alternating magnetic field sensing in conjunction with the method for inclination angle sensing, follow the tracks of the orientation of electronic capsule in body, have that capacity of resisting disturbance is strong, following range is wide, orientation solves time short, the sampled data output of often taking turns tracking and the sampling time is short.
Summary of the invention
Object of the present invention, exactly in order to provide a kind of novel inclination angle type magnetic tracking system, swallows the orientation of formula electronic capsule in human body alimentary canal for following the tracks of.
In order to achieve the above object, present invention employs following technical scheme: a kind of inclination angle type magnetic tracking system swallowing formula electronic capsule, comprise and be arranged on external magnetic field generator, wireless data transceiver module and data processing platform (DPP), and be arranged on the wireless magnetic sensing module of the inclination angle type swallowed on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module communicates with magnetic field generator, data processing platform (DPP) respectively and is connected.
Described magnetic field generator is only made up of single magnet exciting coil, does not need timesharing excitation.
Described inclination angle type is wireless, and magnetic sensing module mainly comprises inclination angle sensing submodule, magnetic sensing submodule and wireless data transmission submodule, and inclination angle sensing submodule and the output of magnetic sensing submodule are connected wireless data respectively and send submodule, described inclination angle sensing submodule is made up of acceleration transducer, signal conditioning circuit, the output connection signal modulate circuit of acceleration transducer, and the output of signal conditioning circuit connects wireless data and sends submodule, described magnetic sensing submodule comprises signal control circuit, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output connection signal control circuit of sampling and A/D change-over circuit.
In the sensing submodule of inclination angle, the bearing signal of digestive tract object is converted to the signal of telecommunication by acceleration transducer, exports signal conditioning circuit to, and signal conditioning circuit exports wireless data to and sends submodule, sends data to external.
In magnetic sensing submodule, the field signal of locus residing for digestive tract object is converted to the signal of telecommunication by magnetic sensor, and exports multiway analog switch to.The input of multiway analog switch is connected to signal control circuit simultaneously, by the break-make of signal control circuit control simulation switch, successively the output signal of magnetic sensor three axis is sent to subsequent conditioning circuit.The input of amplification able to programme and filter circuit is connected to the output of multiway analog switch, and be connected to signal control circuit, the control signal sent by signal control circuit regulates the gain factor of amplification able to programme and filter circuit simultaneously.The output of amplification able to programme and filter circuit is connected to peak detection circuit.The output of peak detection circuit is connected to sampling and A/D change-over circuit.Sampling and A/D change-over circuit are bi-directionally connected with signal control circuit simultaneously, the analog quantity that peak detection circuit exports is converted to digital quantity by sampling and A/D change-over circuit on the one hand, be delivered to signal control circuit, then be sent to wireless data transmission submodule by signal control circuit; On the other hand, the controlled quentity controlled variable that sampling and A/D change-over circuit Received signal strength control circuit export, realizes sampling and A/D translation function.
In magnetic sensing module, the gain-adjusted of amplification able to programme and filter circuit defines a closed loop feedback regulative mode.Time initial, signal control circuit exports initial gain control value extremely amplification able to programme and a filter circuit, now, amplification able to programme and filter circuit produce corresponding yield value according to initial control values, the output signal of magnetic sensor is initially amplified, and after peakvalue's checking, sampling and A/D conversion, be sent to signal control circuit.Signal control circuit compares reading in the higher limit, the lower limit that set in value and program.If read in value between the higher limit and lower limit of setting, then signal control circuit will read in value and be sent to wireless data transmission submodule; If read in the higher limit that value is greater than setting, then signal control circuit exports a less gain control value again to amplification able to programme and filter circuit, the new value after waiting A/D to be read to change; If read in the lower limit that value is less than setting, then signal control circuit exports a larger gain control value again to amplification able to programme and filter circuit, the new value after waiting A/D to be read to change.
Described wireless data transceiver module provides portable data storage and data processing platform (DPP) Real-Time Monitoring two kinds of modes; When the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data received are stored in the multimedia storage card in wireless data transceiver module, after examine terminates, read in data processing platform (DPP) by card reader is disposable; When wireless data transceiver module is communicated with the data wire of data processing platform (DPP), the data received in data processing platform (DPP), carry out subsequent treatment by cable real-time Transmission.
Described data processing platform (DPP) adopts the chaos ant colony algorithm of sequencing selection, solves the Nonlinear System of Equations of azimuth information.
The concrete scheme of algorithm is described as follows:
Artificial bee colony algorithm is that simulation hive search food source carries out the social behavior of intelligent gathering honey and a kind of optimization method of proposing, is the novel heuritic approach of one based on swarm intelligence thought.Artificial bee colony algorithm is used not need to obtain the analytic property of object function, only need carry out good and bad comparison to the feasible solution of object function, by the local optimal searching behavior of Apis individuality, finally in colony, search global optimum, be therefore applicable to solve the optimization problem that the multivariate object function of mathematical model is followed the tracks of in orientation.
Swallow between signal that the position of formula electronic capsule and wireless data transceiver module receive and can be expressed as=Nonlinear System of Equations:
f
i(A)=c
ii=1,2,3(1)
In formula, f
ifor i-th equation in equation group; c
ifor analog switch and magnetic sensor i-th be coupling logical time, the signal value that wireless data transceiver module receives.
Wherein, A is unknown number vector, because 3 of tracked target thing deflections can be obtained by inclination angle sensing submodule measurement, therefore needs the unknown number solved only to comprise 3 position coordinateses of tracked target thing, then
for object function, then the Solving Nonlinear Systems of Equations problem of azimuthal coordinates is just converted to searching and makes object function ε (A) for minimizing vectorial A:
Suppose that initial population contains s solution, the quantity namely leading honeybee or follow honeybee is s; Each feasible solution A of majorized function
i(i=1,2 ..., S) and be 3 dimensional vectors, the i.e. position in nectar source.In standard intraocular's ant colony algorithm, first, honeybee is led to carry out a neighborhood search to nectar source, to each position, nectar source A
iupgrade according to following formula:
V
ij=
A ij+ψ
ij(A
ij-A
kj)(3)
Wherein, j is the dimension of solution vector, j ∈ { 1,2,3}; K ∈ 1,2 ..., s}, k are random selecting, and must be not equal to i; v
ijfor the position in new nectar source; ψ
ijfor random number, span is [-1,1].
After leading honeybee to carry out location updating, the earning rate according to new nectar source makes optimal choice.If when the earning rate in new nectar source is higher than green molasses source, replace original position with position, new nectar source; Otherwise still keep the exploitation to green molasses source.Earning rate is the functional value of orientation tracking target function ε (A).As shown by the following formula:
After leading honeybee to complete search, follow the way selection nectar source of honeybee according to roulette, follow honeybee and select the probit in nectar source by shown in following formula:
Wherein, fit (A
i) be i-th fitness separated.
Follow honeybee to search near nectar source, produce new position, nectar source, shown in formula (3).
When certain position, nectar source does not still improve after Limit circulation, and the earning rate in this nectar source is not again current optimum, then this nectar source is abandoned, the honeybee of following that nectar source is corresponding therewith is simultaneously converted to search bee, according to following formula again position, random initializtion nectar source, replace by the position, nectar source of abandoning:
A
i J=A
min j+rand(0,1).(A
max j-A
min j)(7)
Occur that Premature Convergence is absorbed in the generation of local extremum and stagnation behavior to make standard intraocular bee colony optimized algorithm avoid, and improve convergence of algorithm speed, it is improved.Mainly set about from following two aspects: on the one hand, improve the generating mode of the initial solution of artificial bee colony algorithm, introduce chaos sequence and make the generation of initial solution have multiformity; On the other hand, improve the selection strategy of artificial bee colony algorithm, adopt ordering type selection strategy, avoid and be absorbed in local extremum too early, reach better search effect.
Namely initial solution in artificial bee colony algorithm correspond to initial position, nectar source, eachly leads honeybee to search near nectar source according to priori, produces a new position.Initial solution whether reasonable, have impact on the performance of algorithm to a great extent.Therefore introduce logistic chaos sequence method, make the initial solution of generation have multiformity, ergodic and well, be comparatively evenly distributed in whole search volume.
Following formula is adopted to produce chaos sequence { x
n}:
x
n+1=μ.x
n.(1-x
n)(8)
In formula, μ value is 4, X
ne (0,1).
Given 3 different initial values, can produce the sequence that 3 numerical value is different, be designated as { x respectively
n 1, { x
n 2, { x
n 3.Value from the 500th of sequence, and in order to make the chaos sequence of generation be distributed in solution space, adopt following normalized:
A
ij=l
j+X
s00+i
j.(u
j-l
j)(9)
I is the label of initial solution, i ∈ 1,2 ..., s}, s are the total number of initial solution; J is the dimension separated, j ∈ { 1,2,3}; l
iand u
irepresent value lower bound and the upper bound of the jth dimension variable of solution respectively.Initial solution A can be generated thus
i.
On selection strategy, the selection mode of roulette, causes and follows honeybee and abandon the poor solution of fitness function prematurely, may cause Premature Convergence thus, be absorbed in local extremum.
Due to the complexity of orientation tracking target function, the surrounding of globe optimum may be surrounded by the point that fitness value is poor, only has and chooses these points in early days, and searches near these points, just likely searches globe optimum; Otherwise algorithm just abandons the search to the poor point of these fitness in early days, may be absorbed in local extremum.In order to the position, nectar source making fitness poor also can have larger probability selected at the early stage of algorithm, the selection strategy of standard ant colony algorithm is improved: the fitness value according to each position, nectar source sorts, calculate by the probability of following honeybee selection according to the sequence number of sequence, sort more forward larger by the probability selected, therefore select probability is only relevant with sequence number, directly not proportional with fitness function value, avoid because fitness function numerical value difference is larger, cause select probability polarization, thus the position, nectar source causing fitness poor is in early days just by the phenomenon abandoned.
First, sorted by adaptive value functional value corresponding for position, each nectar source, wherein bottom right mark illustrates the sequence number of adaptive value function after all adaptive value functions sort from big to small of position, each nectar source, and s represents the total number of position, nectar source:
Account for
1> ε
2> ... > ε
s(10)
If the adaptive value functional value sequence number in the sequence that certain position, nectar source Ai is corresponding is n, then the select probability of its correspondence is:
In sum, the program step design of the chaos ant colony algorithm of sequencing selection is as follows:
1) parameter initialization.Arrange lead the number of honeybee, follow the number of honeybee, the value of Limit, control accuracy
e, the maximum iteration time max that allows, and produce the position in initial nectar source according to chaos operator.The
iposition, individual nectar source is designated as A
i=(A
i1, A
i2, A
i3).
2) the fitness value ε (A of position, each nectar source is calculated
i).
3) eachly lead the corresponding position, a nectar source of honeybee, carry out location updating according to formula (3), and calculate the fitness of reposition.
4) lead honeybee to adopt individual greedy rule, select or abandon reposition.
5) fitness function of the position, nectar source leading honeybee to store is sorted from big to small, calculate select probability according to ranking method, follow honeybee and select position, nectar source according to select probability.
6) follow honeybee and carry out location updating according to formula (3), and calculate the fitness of reposition.
7) adopt greedy rule, select or abandon reposition.
8) judge whether to need through limit iteration the solution abandoned without improvement, if having, then produce new solution and replace it.
9) store the best position, nectar source of fitness value, judge whether best adaptive value is less than
e, and whether reach the iterations max of permission.If neither meet, then directly jump to step 3), proceed optimizing.If be less than e, then export the current best position, nectar source of ant colony algorithm, be the object position that optimizing obtains.If reached the iterations max of permission, then export and " reached maximum iteration time! ".
Inclination angle type magnetic tracking system of the present invention has following advantage and disadvantage:
1, magnetic field generator is only made up of single magnet exciting coil, the sequential control circuit that magnetic field generator does not need timesharing excitatory.Thus reduce volume and the power consumption of magnetic field generator, reduce the sampled data output and sampling time of often taking turns tracking, shorten the reception processing time of signal, improve the real-time of tracking.
2, the mode adopting inclination angle sensing to combine with magnetic field sensing follows the tracks of electronic capsule.The introducing of inclination angle sensing mode, decreases the unknown quantity number of magnetic field reverse temperature intensity, shortens the time of solving, improve positioning precision.
3, the software algorithm of data processing platform (DPP), have employed the Nonlinear System of Equations of improvement type artificial bee colony algorithm to azimuth information and solves, improve solving speed and solving precision.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention.
Fig. 2 is that coordinate rotates schematic diagram.
Fig. 3 is the structured flowchart of the wireless magnetic sensing module of inclination angle type.
Detailed description of the invention
See Fig. 1, the radio tracking device of digestive tract object of the present invention, comprises and is arranged on external magnetic field generator 1, wireless data transceiver module 2 and data processing platform (DPP) 3, and is arranged on the wireless magnetic sensing module 4 of the inclination angle type swallowed on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module communicates with magnetic field generator, data processing platform (DPP) respectively and is connected.
See Fig. 3, inclination angle type in the present invention is wireless, and magnetic sensing module 4 mainly comprises inclination angle sensing submodule 41, magnetic sensing submodule 42 and wireless data transmission submodule 43, and inclination angle sensing submodule and the output of magnetic sensing submodule are connected wireless data respectively and send submodule.Wherein, inclination angle sensing submodule 41 is made up of acceleration transducer 411 and signal conditioning circuit 412, the output connection signal modulate circuit of acceleration transducer, and the output of signal conditioning circuit connects wireless data and sends submodule.Magnetic sensing submodule 42 comprises signal control circuit 421, magnetic sensor 422, multiway analog switch 423, amplification able to programme and filter circuit 424, peak detection circuit 425 and sampling and A/D change-over circuit 426, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output connection signal control circuit of sampling and A/D change-over circuit.
When often taking turns tracking sampling and starting, inclination angle type is wireless magnetic sensing module and wireless data transceiver module are all in accepting state, and whether continuous inquiry receives operational order.After wireless data transceiver module power-up initializing, wireless transmission " handshake request " signal is to the wireless magnetic sensing module of inclination angle type immediately, be then in reception waiting state; If still do not receive " shaking hands successfully " signal after often waiting for 2 seconds, then again send " handshake request " signal.Inclination angle type is wireless after magnetic sensing module receives " handshake request " signal, namely sends " shaking hands a successfully " signal, returns to wireless data transceiver module.After wireless data transceiver module receives " shaking hands successfully " signal, then output control signals to magnetic field generator, make it start excitatory.Magnetic field generator produces the sinusoidal current of certain current intensity, passes into the resonant tank of single magnet exciting coil, makes it produce the alternating magnetic field of certain frequency in space.Now, the field signal at inclination angle type is wireless magnetic sensing module and detected electrons capsule place and acceleration signal, the component of the orientation residing for electronic capsule and the peak value of field signal, acceleration signal has the functional relation determined, therefore, by AC magnetic field signal peak and the acceleration signal components in orientation residing for detected electrons capsule, convert them to the signal of telecommunication, and be wirelessly transmitted to external wireless data transceiver module.
If three of 3-axis acceleration sensor axially export and are respectively A
x', A
y', A
z', three axles are orthogonal between two.Magnetic sensor is set up moving coordinate system o '-x ' y ' z ', wherein with the geometric center point of Magnetic Sensor for zero o ', three axially export and are respectively o ' x ', o ' y ', o ' z '.During installation, make the A of acceleration transducer
x, direction is parallel to magnetic sensor o ' x ', the A of acceleration transducer
y' direction is parallel to o ' y ', the A of acceleration transducer
zparallel o ' the z ' in ' direction.If external reference coordinate is o-xyz, then rotate according to Eulerian angles coordinate, as shown in Figure 2, moving coordinate system o '-x ' y ' z ' is around z ' axle anglec of rotation γ
1, now o ' x ' overlaps with N axle; Again around N axle anglec of rotation γ
2, now z ' axle overlaps with z-axis; Last around z-axis anglec of rotation γ
3, after rotating for three times, o '-x ' y ' z ' overlaps with o-xyz.
Static acceleration according to acceleration transducer three axis exports, and can obtain three anglec of rotation γ 1, the γ of magnetic sensor and frame of reference o-xyz in magnetic sensing submodule
2, γ
3, namely magnetic sensor passes through with anglec of rotation γ
1, γ 2, γ
3after the coordinate rotation of parameter, its three output shafts are all parallel to three coordinate axess of frame of reference o-xyz.Therefore by coordinate anglec of rotation γ
1, γ
2, γ
3after acquisition, substitute in the magnetic field model in space magnetic field vector and electronic capsule orientation, after calculating abbreviation, the locus coordinate of electronic capsule is only contained in magnetic nonlinearity equation group, thus decrease the unknown quantity number of magnetic field reverse temperature intensity, shorten the time of solving, improve positioning precision.The large I of space magnetic field vector is measured by magnetic sensing submodule and is obtained.
The field signal received and dip angle signal are transferred to data processing platform (DPP) by wireless data transceiver module, carry out orientation and solve.The working method of wireless data transceiver module is divided into: portable data storage and host computer Real-Time Monitoring.When the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data received are stored in the multimedia storage card in device, after examine terminates, read in data processing platform (DPP) by card reader is disposable; When wireless data transceiver module is communicated with the data wire of data processing platform (DPP), the data received in data processing platform (DPP), carry out subsequent treatment by cable real-time Transmission.
The software algorithm of data processing platform (DPP), have employed the Nonlinear System of Equations of improvement type artificial bee colony algorithm to azimuth information and solves.The collective intelligence behavior of simulation bee colony, first Nonlinear System of Equations is converted to function optimization problem, by corresponding for the position in a nectar source feasible solution of majorized function, the process that bee colony finds optimum nectar source is exactly the process of search function optimal solution, the position in optimum nectar source is then the optimal solution of function, i.e. the locus of electronic capsule.The artificial bee colony algorithm of standard has good ability of searching optimum, but local search ability is poor, in order to improve the precision of algorithm, avoid occurring that Premature Convergence is absorbed in the generation of local extremum and stagnation behavior, self-adaptative adjustment is carried out to the step-size in search of artificial bee colony algorithm, has improve solving speed and solving precision.
By above-mentioned design, the inclination angle type magnetic tracking system swallowing formula electronic capsule can show the dimensional orientation of electronic capsule in real time, or is stored in multimedia card by azimuth information, after examine terminates, by the disposable reading of card reader, carry out analysis and the post processing of data.
Claims (5)
1. swallow the inclination angle type magnetic tracking system of formula electronic capsule for one kind, it is characterized in that: comprise and be arranged on external magnetic field generator, wireless data transceiver module and data processing platform (DPP), and be arranged on the wireless magnetic sensing module of the inclination angle type swallowed on formula electronic capsule; Inclination angle type is wireless, and magnetic sensing module is connected with wireless data transceiver module radio communication, and wireless data transceiver module communicates with magnetic field generator, data processing platform (DPP) respectively and is connected.
2. swallow the inclination angle type magnetic tracking system of formula electronic capsule as claimed in claim 1, it is characterized in that: described magnetic field generator is only made up of single magnet exciting coil, do not need timesharing excitation.
3. swallow the inclination angle type magnetic tracking system of formula electronic capsule as claimed in claim 1, it is characterized in that: described inclination angle type is wireless, and magnetic sensing module mainly comprises inclination angle sensing submodule, magnetic sensing submodule and wireless data transmission submodule, and inclination angle sensing submodule and the output of magnetic sensing submodule are connected wireless data respectively and send submodule, described inclination angle sensing submodule is made up of acceleration transducer, signal conditioning circuit, the output connection signal modulate circuit of acceleration transducer, and the output of signal conditioning circuit connects wireless data and sends submodule, described magnetic sensing submodule comprises signal control circuit, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit, wherein the output of signal control circuit respectively with multiway analog switch, amplification able to programme and filter circuit, sampling and A/D change-over circuit and wireless data send submodule and are connected, magnetic sensor, multiway analog switch, amplification able to programme and filter circuit, peak detection circuit and sampling and A/D change-over circuit order telecom-connect, the output connection signal control circuit of sampling and A/D change-over circuit.
4. swallow the inclination angle type magnetic tracking system of formula electronic capsule as claimed in claim 1, it is characterized in that: described wireless data transceiver module provides portable data storage and data processing platform (DPP) Real-Time Monitoring two kinds of modes; When the data wire of wireless data transceiver module and data processing platform (DPP) disconnects, the data received are stored in the multimedia storage card in wireless data transceiver module, after examine terminates, read in data processing platform (DPP) by card reader is disposable; When wireless data transceiver module is communicated with the data wire of data processing platform (DPP), the data received in data processing platform (DPP), carry out subsequent treatment by cable real-time Transmission.
5. swallow the inclination angle type magnetic tracking system of formula electronic capsule as claimed in claim 1, it is characterized in that: described data processing platform (DPP) adopts the chaos ant colony algorithm of sequencing selection, solves the Nonlinear System of Equations of azimuth information.
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| CN107260110A (en) * | 2017-05-26 | 2017-10-20 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
| CN107260110B (en) * | 2017-05-26 | 2019-06-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
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| CN104887230B (en) | 2017-08-25 |
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