微型遥测胶囊体外磁跟踪定位技术研究

发布时间：2018-06-19 20:35

本文选题：霍尔传感器 + 磁偶极子模型　；参考：《上海交通大学》2012年硕士论文

【摘要】：为了解决介入式诊疗装置在体内的定位问题,本文在国家863计划项目(编号:2006AA04Z368)的资助和支持下,以上海交通大学为检测消化道的pH值、温度、压力等生理参数而研制的人体胃肠道无创诊疗系统为技术背景,对基于霍尔原理的体外磁场检测方法作了比较深入的研究,力图找到一种原理可行,满足实用要求,使用方便可靠的磁定位方法。比较目前存在的各种定位方法,发现基于霍尔原理的磁定位方式具有非接触、快速、应用简便的特点。本文在分析永磁体空间磁场分布规律的基础上,提出了一种新的基于永磁体磁场和霍尔传感器阵列的体外磁跟踪定位技术,并设计了体外磁跟踪定位系统。该系统工作流程具体如下:首先,在用于检测人体胃肠道的微型诊疗装置内放置一特定永磁体作为磁源;然后,在患者体外放置利用霍尔线性传感器组成传感器模块阵列,检测进入人体后微型装置的磁场信息;之后,检测信息经由单片机、可编程放大器(PGA)、AD转换器组成的控制模块进行处理;最后,由主控计算机求解由磁偶极子模型建立的方程组,计算出永磁体的位置,达到确定体内微型装置的空间位置坐标的目的。开发了基于霍传感器阵列的体外磁跟踪定位系统,并进行了系统优化实验、系统性能实验以及模拟肠道平面实验。实验结果表明,该方法定位精度在毫米级,绝对误差范围控制在18mm以内,约95%以上的点误差值在±15mm范围内,完全满足实际应用需求。此系统能精确确定永磁体所在空间位置,具有非接触测量、操作简单、精度高等特点,为有效观测人体肠道内的微型诊疗装置提供了依据。但是如何将人体肠道中的微型装置位置直观有效的表达出来,仍需要进一步的研究。
[Abstract]:In order to solve the problem of positioning of interventional diagnostic and therapeutic devices in vivo, this paper, supported by the National 863 Program (No.: 2006AA04Z368), took Shanghai Jiaotong University as a test for the pH and temperature of digestive tract. The non-invasive diagnosis and treatment system of human gastrointestinal tract developed by pressure and other physiological parameters is a technical background. The method of magnetic field detection in vitro based on Hall's principle is studied in depth, and a kind of principle is found to be feasible to meet the practical requirements. A convenient and reliable magnetic positioning method is used. Comparing with the existing localization methods, it is found that the magnetic location method based on Hall principle has the characteristics of non-contact, fast and simple application. Based on the analysis of the spatial magnetic field distribution of permanent magnets, a new external magnetic tracking and positioning technique based on permanent magnet magnetic field and Hall sensor array is proposed in this paper, and an external magnetic tracking and positioning system is designed. The working process of the system is as follows: first, a specific permanent magnet is placed as a magnetic source in a micro-diagnosis and treatment device for detecting human gastrointestinal tract; then, a sensor module array is made up of Hall linear sensors in the outside of the patient. After detecting the magnetic field information of the microdevice after entering the human body, the detection information is then processed by a control module composed of a single chip microcomputer, a programmable amplifier and a PGA / AD converter. Finally, the equations set up by the magnetic dipole model are solved by the master control computer. The position of permanent magnet is calculated to determine the space coordinate of the micro device. An in vitro magnetic tracking and positioning system based on Hall sensor array was developed, and the system optimization experiments, system performance experiments and simulated intestinal plane experiments were carried out. The experimental results show that the accuracy of the method is in millimeter order, the absolute error range is within 18mm, and the point error of about 95% is in the range of 卤15mm, which fully meets the requirement of practical application. The system can accurately determine the space position of permanent magnet, has the characteristics of non-contact measurement, simple operation and high precision, which provides a basis for effective observation of the micro-diagnosis and treatment device in human intestinal tract. However, how to express the position of microdevices directly and effectively in human gut still needs further research.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH776

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