Full-posture measuring method and system of capsule endoscope based on changeable magnetic field

• Main Authors: LIANG DONG, XIE CHAOQIN, LI YANJUN, LI JIAKUN
• Format: Patent
• Language: Chinese; English
• Published: 24.11.2017
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The invention discloses a full posture measuring method of a capsule endoscope based on a changeable magnetic field. The method comprises the steps of detecting the current acceleration of the capsule endoscope; determining whether or not the external preset magnetic field at the current position of the capsule endoscope satisfies preset conditions, if yes, detecting the magnetic induction intensity of the current position of the capsule endoscope, and putting the magnetic induction intensity and the acceleration into a preset formula at the same time to calculate the current attitude angle of the capsule endoscope; if no, detecting the angular velocities of the rotation of the capsule endoscope around three preset axes of the capsule endoscope, and conducting integration on the angular velocities to calculate the current attitude angle of the capsule endoscope. Thus, when the external preset magnetic field satisfies the preset conditions, by conducting data fusion on the acceleration of the capsule endoscope