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新型优化胶囊内窥镜差分定位方法的系统性能评估。

Systematic Performance Evaluation of a Novel Optimized Differential Localization Method for Capsule Endoscopes.

机构信息

Institute for Electronics Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), 91058 Erlangen, Germany.

Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya 466-8555, Japan.

出版信息

Sensors (Basel). 2021 May 3;21(9):3180. doi: 10.3390/s21093180.

DOI:10.3390/s21093180
PMID:34063644
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8125465/
Abstract

Capsule endoscopy is a well-established diagnostic tool for the gastrointestinal tract. However, the reliable tracking of capsule endoscopes needs further investigation. Recently, the static magnetic differential method for the localization of capsule endoscopes has shown promising results. This method was experimentally validated by investigating the difference in the measured values of the geomagnetic flux density of a representative sensor pair. In the measurements, it was revealed that misalignment of the sensors and ferromagnetic material near the sensor pair had the most significant impact on the differential approach. Besides, a systematical simulation-based study was conducted. Herein, the position and alignment of all sensors of the localization system were randomly varied. Furthermore, root-mean-squared noise was added to the sensor measurements, and the influence of nearby ferromagnetic material was evaluated. Subsequently, non-idealities were applied simultaneously on the proposed localization system, and the entire system was rotated. The proposed method was significantly better than state-of-the-art geomagnetic compensation methods for the localization of capsule endoscopes with mean position and orientation errors of approximately 2 mm and 1°, respectively.

摘要

胶囊内镜是一种成熟的胃肠道诊断工具。然而，胶囊内镜的可靠跟踪仍需要进一步研究。最近，用于胶囊内镜定位的静态磁场差分方法已经显示出了有前景的结果。该方法通过研究代表性传感器对的地磁场磁通密度测量值的差异，在实验上得到了验证。在测量中，发现传感器的不对中和传感器附近的铁磁材料对差分方法的影响最大。此外，还进行了基于系统模拟的研究。在此，定位系统的所有传感器的位置和对准情况都是随机变化的。此外，传感器测量值中添加了均方根噪声，并评估了附近铁磁材料的影响。随后，在提出的定位系统上同时应用不理想因素，并对整个系统进行旋转。该方法明显优于基于地磁补偿的最新方法，用于胶囊内镜的定位，其平均位置和方向误差分别约为 2 毫米和 1 度。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/11efc5f499c5/sensors-21-03180-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/fdb743c4db5d/sensors-21-03180-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/9a23f52045cd/sensors-21-03180-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/71c1d8bf8af6/sensors-21-03180-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/5e1a818fec34/sensors-21-03180-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/f741ca493db8/sensors-21-03180-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/1e415b06bae0/sensors-21-03180-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/00d0368b2c65/sensors-21-03180-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/bddf17ac556b/sensors-21-03180-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/20da4b8fe5a9/sensors-21-03180-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/e0c22b2eb8c9/sensors-21-03180-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/5e62e6ca08e4/sensors-21-03180-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/70ce6cf50a8c/sensors-21-03180-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/c81a4323e969/sensors-21-03180-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/11efc5f499c5/sensors-21-03180-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/fdb743c4db5d/sensors-21-03180-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/9a23f52045cd/sensors-21-03180-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/71c1d8bf8af6/sensors-21-03180-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/5e1a818fec34/sensors-21-03180-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/f741ca493db8/sensors-21-03180-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/1e415b06bae0/sensors-21-03180-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/00d0368b2c65/sensors-21-03180-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/bddf17ac556b/sensors-21-03180-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/20da4b8fe5a9/sensors-21-03180-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/e0c22b2eb8c9/sensors-21-03180-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/5e62e6ca08e4/sensors-21-03180-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/70ce6cf50a8c/sensors-21-03180-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/c81a4323e969/sensors-21-03180-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ea1a/8125465/11efc5f499c5/sensors-21-03180-g014.jpg

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本文引用的文献

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A Novel Relative Position Estimation Method for Capsule Robot Moving in Gastrointestinal Tract.一种用于在胃肠道中移动的胶囊机器人的新型相对位置估计方法。
Sensors (Basel). 2019 Jun 19;19(12):2746. doi: 10.3390/s19122746.
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Localization strategies for robotic endoscopic capsules: a review.机器人内窥镜胶囊的定位策略：综述。
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