无线内窥镜定位系统研究与设计
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摘要
内窥镜经过近150年的研究,从19世纪初的硬式内发展到21世纪今天的无线方式,已经在现代诊断类医疗仪器中占有重要的地位。特别是近年来出现的基于计算机系统的、具有高分辨率、电子成像、无痛、无创等特点的无线内窥镜,已经进入了临床应用。它不但满足了医生的观察和诊断的需要,而且极大的提高了临床的可靠性和准确性,降低医生的误诊,减轻病人的痛苦。真正实现了微创,无创。内窥镜的定位系统是整个诊疗系统中不可缺少的一部分。本文就是在以上背景下展开一系列研究。开发无线内窥镜定位系统及显示平台。
本文从理论和实践两方面入手,对无线内窥镜的定位原理进行了深入的探讨,并对无线内窥镜定位系统的软,硬件组成以及显示进行了分析设计,包括永磁体模型的三维有限元模型的建立、分析过程和分析结果。根据三点定位原理分析所得结果并进行模型的简化。并以三点定位算法为基础进行内窥镜定位算法的研究,提出基于DSP的定位系统平台,并围绕着定位系统的设计和应用展开一系列的研究,包括TMS320LF2407应用系统设计、三点定位原理分析与简化、永磁体磁场有限元分析、以等效磁荷理论为基础对圆柱永磁体磁场模型进行研究、传感器检测区域分区及越区切换研究等。
From 19 century when the direct endoscope studied to 21 century when the wirelesselectronic endoscopes studied, About 150 years of studies and developments,the endoscope had takenan important role in the modernistic diagnosing medical instrument. Especially In recent years, wirelesselectronic endoscopes with characteristics such as base on computer systenu high-resolution、electronic formation of image、indolence have appeared, and have been taken into practice. wireless endoscope image on the basis of the computer system has not only making it be convenient for doctors to observe and diagnose,but also improving the clinical efficiency and veracity greatly, reducing the doctors' error diagnose, alleviating patients' pain. Achieved slim hurt and indolence. The location system is the part of the wireless endoscope system indispensability. This paper's study bases on the former background. Developing the wireless endoscope Location system and display equipment.
From both theory and practice, the paper discusses deeply with the location theory.Analyzing and designing the software hardware and display of the wireless endoscope location system. In the article in detail introduced the permanent magnet model three dimensional finite element model establishment, the analysis process and the analysis result.we analyse the result which based on the locating method based on the principle of three points location theory,then predigesting the permanent magnet model. In the article,we study the wireless endoscope location arithmetic based on the locating method based on the principle of three points location theory. Advanced location system equipment which based on DSP. Developed a series of stady based on the design and application of the location system.which include the application system design of TMS320LF2407, analysed and predigested the principle of three points location theory, permanent magnet magnetic field finite element analyse, syudied columnar permanent magnet magnetic field model based on the equivalent magnetic charge method, differentiation sensor detect area and switch when sensor set the other senser detect area.
本文从理论和实践两方面入手,对无线内窥镜的定位原理进行了深入的探讨,并对无线内窥镜定位系统的软,硬件组成以及显示进行了分析设计,包括永磁体模型的三维有限元模型的建立、分析过程和分析结果。根据三点定位原理分析所得结果并进行模型的简化。并以三点定位算法为基础进行内窥镜定位算法的研究,提出基于DSP的定位系统平台,并围绕着定位系统的设计和应用展开一系列的研究,包括TMS320LF2407应用系统设计、三点定位原理分析与简化、永磁体磁场有限元分析、以等效磁荷理论为基础对圆柱永磁体磁场模型进行研究、传感器检测区域分区及越区切换研究等。
From 19 century when the direct endoscope studied to 21 century when the wirelesselectronic endoscopes studied, About 150 years of studies and developments,the endoscope had takenan important role in the modernistic diagnosing medical instrument. Especially In recent years, wirelesselectronic endoscopes with characteristics such as base on computer systenu high-resolution、electronic formation of image、indolence have appeared, and have been taken into practice. wireless endoscope image on the basis of the computer system has not only making it be convenient for doctors to observe and diagnose,but also improving the clinical efficiency and veracity greatly, reducing the doctors' error diagnose, alleviating patients' pain. Achieved slim hurt and indolence. The location system is the part of the wireless endoscope system indispensability. This paper's study bases on the former background. Developing the wireless endoscope Location system and display equipment.
From both theory and practice, the paper discusses deeply with the location theory.Analyzing and designing the software hardware and display of the wireless endoscope location system. In the article in detail introduced the permanent magnet model three dimensional finite element model establishment, the analysis process and the analysis result.we analyse the result which based on the locating method based on the principle of three points location theory,then predigesting the permanent magnet model. In the article,we study the wireless endoscope location arithmetic based on the locating method based on the principle of three points location theory. Advanced location system equipment which based on DSP. Developed a series of stady based on the design and application of the location system.which include the application system design of TMS320LF2407, analysed and predigested the principle of three points location theory, permanent magnet magnetic field finite element analyse, syudied columnar permanent magnet magnetic field model based on the equivalent magnetic charge method, differentiation sensor detect area and switch when sensor set the other senser detect area.
引文
[1]胡宗泰.医用内窥镜现状及发展趋势.世界医疗器械.1997,1:32-36.
[2]Fujita Hiroyuki.Future of Actuators and Microsystems.Sensors and Actuators,A56(1996):105-110.
[3]Lin.Liangming(Shanghai Jiaotong Univ).Gao,Liming.Yan,Guozheng.Rong,Rong.Study on the endoscope system driven by squirmy robot.Proceedings of the IEEE International Conference on Intelligent Processing Systems,ICIPS v1 Oct 28-31 1997 1998 Sponsored by:IEEE p 75-81.
[4]Ian Wilding,Peter Hirst,Alyson connor.Development of a new engineeringbased capsule for human drug absorption studies.PSTT 3,NO,11,November 2000.
[5]李励.医用内窥镜的发展历程.医疗设备信息.1999(4):51-53。
[6]Groning,R,et al.(1999)Computor-controlled release of oxprenolol from capsules using small gas producing cells and electronic circuits.Pharmazie 54,510-512.
[7]Casper,R.A.et al.(1992)Medical capsule device activated by radiofrequency(RF)signal US patent 5170801.
[8]U.S.Food and Drug Administration,Office of Public Affairs.FDA approves camera pill to photograph small intestine.FDA Talk Paper T01-33.Rockville,MD:FDA;August 1,2001..
[9]U.S.Food and Drug Administration,Center for Devices and Radiologic Health.Given Diagnostic Imaging System.K010312.Rockville,MD:FDA,August 21,2001).
[10]Fischer D,Schreiber R,Meron G,et al.Localization of a wireless capsule endoscope in the GI tract[abstract].Gastrointest Endoscope.2001;53:AB126.
[11]Maluf,Nadim I,Kovacs,Gregory T.A.et al.Recent advances in medical applications of MEMS.Wescon Conference Record Oct 22-24 1996 Sponsored by:IEEE Wescon p 60-63.
[12]Nakajima Naomasa.The Scope of Micro machines.Proceedings of Country Reviews and Topics,Micro-machine Summit.March,1995 Kyoto,JAPAN:195-200.
[13]David Hodges.More data on capsule endoscopy[J].Medical.Post 2002,38(46):21-22.
[14]Casper R.Medical capsule device activated by radio frequency(RF)signal.US patent 51708013
[15]Haynor.system and method to determine the location and orientation of an indwelling medical device.US patent 58792974
[16]http://www.rfnorika.com
[17]http://www.givenimaging.com
[18]陈新.林东.张庆辉等.磁场方式的内窥镜体内三维定位与追踪方法研究.中国生物医学工程学报.第21卷第5期2002年10月
[19]李建新.基于正四面体结构差分磁偶极子对内窥镜定位探头微型化的研究.福州.大学学位论文.
[20]Intrabody Three-Dimensional Position Sensor for an Ultrasound Endoscope.IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,VOL.49,NO.10,OCTOBER 2002
[21]王坤东.颜国正.姜萍萍等.一种新的人体腔道介入器件定位方法.北京生物医学工程.第25卷.第4期2006年8月
[22]包玉民.朱哲.GPS卫星导航定位系统初探[A]Technology&Economy In Areas Of Communications(TEAC)1008-5696-(2006)04-0068-02
[23]侯文生.郑小林.彭承琳等.基于永磁体空间磁场检测的体内微型诊疗装置定位系统的研究.北京生物医学工程,2004,23(2):81-84。
[24]侯文生.郑小林.彭承琳等.基于磁定位的消化道微型药物释放装置动态跟踪技术研究.生物医学工程.2005,24(1),36-38。
[25]M.Sendoh,K.Ishiyama.Fabrication of magnetic actuator for use in a capsule endoscope.IEEE transactions on magnetics,2003,39(5):3232-3234.
[26]方亮.无线内窥镜定位系统研究.合肥工业大学学位论文.
[27]王世山.王德林.李彦明.大型有限元软件ANSYS在电磁领域的使用.高压电器2002年6月.第38卷.第3期
[28]王国强.实用工程数值模拟技术及其在ANSYS上的实践[M].西安:西北工业大学出版社,1999.
[29]陈忠一.蔡国忠.电脑辅助工程分析ANSYS使用指南.北京:中国铁道出版社。2001.3
[30]汤双清.沈洁.陈习坤.等.基于磁荷模型的永磁体空间磁场的有限元分析与计算.三峡大学学报.2003,25(5):452-455。
[31]冯慈璋.电磁场.北京:高等教育出版社.1983。
[32]P.J.Davis,P,Rabinowitz.数值积分法.北京:高等教育出版社,1986。
[33]I.S.Gradshteyn and I.M.Ryzhik,Tables of Integrals Series and Products,4th ed.New York:Academic Press,1990.
[34]P J Davis.P Rabinowitz.数值积分法[M].北京:高等教育出版社,1986.
[35]冯慈璋.电磁场[M].北京:高等教育出版社,1983.
[36]I S Gradshteyn,I M Ryzhik.Tables of Integrals Series and Products,4th ed[M].New York:Academic Press,1990.
[37]候文生.郑小林.彭承琳等.体内微型诊疗装置磁定位简化模型的实验研究[A]仪器仪表学报2005.9 26卷第9期.
[38]沈熙宁.电磁场与电磁波.北京.科学出版社.2006.
[39]合肥工业大学数学与信息科学系.数值计算方法.合肥:合肥工业大学出版社.2004
[40]达新宇.孟涛.庞宝茂等.现代通信新技术.西安电子科技大学出版社2006.8
[41]马明建.数据采集与处理技术.西安-西安交通大学出版社.2005.9
[2]Fujita Hiroyuki.Future of Actuators and Microsystems.Sensors and Actuators,A56(1996):105-110.
[3]Lin.Liangming(Shanghai Jiaotong Univ).Gao,Liming.Yan,Guozheng.Rong,Rong.Study on the endoscope system driven by squirmy robot.Proceedings of the IEEE International Conference on Intelligent Processing Systems,ICIPS v1 Oct 28-31 1997 1998 Sponsored by:IEEE p 75-81.
[4]Ian Wilding,Peter Hirst,Alyson connor.Development of a new engineeringbased capsule for human drug absorption studies.PSTT 3,NO,11,November 2000.
[5]李励.医用内窥镜的发展历程.医疗设备信息.1999(4):51-53。
[6]Groning,R,et al.(1999)Computor-controlled release of oxprenolol from capsules using small gas producing cells and electronic circuits.Pharmazie 54,510-512.
[7]Casper,R.A.et al.(1992)Medical capsule device activated by radiofrequency(RF)signal US patent 5170801.
[8]U.S.Food and Drug Administration,Office of Public Affairs.FDA approves camera pill to photograph small intestine.FDA Talk Paper T01-33.Rockville,MD:FDA;August 1,2001..
[9]U.S.Food and Drug Administration,Center for Devices and Radiologic Health.Given Diagnostic Imaging System.K010312.Rockville,MD:FDA,August 21,2001).
[10]Fischer D,Schreiber R,Meron G,et al.Localization of a wireless capsule endoscope in the GI tract[abstract].Gastrointest Endoscope.2001;53:AB126.
[11]Maluf,Nadim I,Kovacs,Gregory T.A.et al.Recent advances in medical applications of MEMS.Wescon Conference Record Oct 22-24 1996 Sponsored by:IEEE Wescon p 60-63.
[12]Nakajima Naomasa.The Scope of Micro machines.Proceedings of Country Reviews and Topics,Micro-machine Summit.March,1995 Kyoto,JAPAN:195-200.
[13]David Hodges.More data on capsule endoscopy[J].Medical.Post 2002,38(46):21-22.
[14]Casper R.Medical capsule device activated by radio frequency(RF)signal.US patent 51708013
[15]Haynor.system and method to determine the location and orientation of an indwelling medical device.US patent 58792974
[16]http://www.rfnorika.com
[17]http://www.givenimaging.com
[18]陈新.林东.张庆辉等.磁场方式的内窥镜体内三维定位与追踪方法研究.中国生物医学工程学报.第21卷第5期2002年10月
[19]李建新.基于正四面体结构差分磁偶极子对内窥镜定位探头微型化的研究.福州.大学学位论文.
[20]Intrabody Three-Dimensional Position Sensor for an Ultrasound Endoscope.IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,VOL.49,NO.10,OCTOBER 2002
[21]王坤东.颜国正.姜萍萍等.一种新的人体腔道介入器件定位方法.北京生物医学工程.第25卷.第4期2006年8月
[22]包玉民.朱哲.GPS卫星导航定位系统初探[A]Technology&Economy In Areas Of Communications(TEAC)1008-5696-(2006)04-0068-02
[23]侯文生.郑小林.彭承琳等.基于永磁体空间磁场检测的体内微型诊疗装置定位系统的研究.北京生物医学工程,2004,23(2):81-84。
[24]侯文生.郑小林.彭承琳等.基于磁定位的消化道微型药物释放装置动态跟踪技术研究.生物医学工程.2005,24(1),36-38。
[25]M.Sendoh,K.Ishiyama.Fabrication of magnetic actuator for use in a capsule endoscope.IEEE transactions on magnetics,2003,39(5):3232-3234.
[26]方亮.无线内窥镜定位系统研究.合肥工业大学学位论文.
[27]王世山.王德林.李彦明.大型有限元软件ANSYS在电磁领域的使用.高压电器2002年6月.第38卷.第3期
[28]王国强.实用工程数值模拟技术及其在ANSYS上的实践[M].西安:西北工业大学出版社,1999.
[29]陈忠一.蔡国忠.电脑辅助工程分析ANSYS使用指南.北京:中国铁道出版社。2001.3
[30]汤双清.沈洁.陈习坤.等.基于磁荷模型的永磁体空间磁场的有限元分析与计算.三峡大学学报.2003,25(5):452-455。
[31]冯慈璋.电磁场.北京:高等教育出版社.1983。
[32]P.J.Davis,P,Rabinowitz.数值积分法.北京:高等教育出版社,1986。
[33]I.S.Gradshteyn and I.M.Ryzhik,Tables of Integrals Series and Products,4th ed.New York:Academic Press,1990.
[34]P J Davis.P Rabinowitz.数值积分法[M].北京:高等教育出版社,1986.
[35]冯慈璋.电磁场[M].北京:高等教育出版社,1983.
[36]I S Gradshteyn,I M Ryzhik.Tables of Integrals Series and Products,4th ed[M].New York:Academic Press,1990.
[37]候文生.郑小林.彭承琳等.体内微型诊疗装置磁定位简化模型的实验研究[A]仪器仪表学报2005.9 26卷第9期.
[38]沈熙宁.电磁场与电磁波.北京.科学出版社.2006.
[39]合肥工业大学数学与信息科学系.数值计算方法.合肥:合肥工业大学出版社.2004
[40]达新宇.孟涛.庞宝茂等.现代通信新技术.西安电子科技大学出版社2006.8
[41]马明建.数据采集与处理技术.西安-西安交通大学出版社.2005.9