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.
作者
卢令
蔡乐才
陈冬君
高祥
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)
出处
《实验室研究与探索》
CAS
北大核心
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)
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
capsule endoscopy
5-dimensional magnetic positioning
angular error
position error
sensor calibration