消化道微型诊疗装置磁定位系统的软件设计

为实现对消化道微型诊疗装置在人体内的实时定位与跟踪,使用可视化工具包(VTK)在VC++.Net平台下设计了可应用于消化道微型诊疗装置的定位跟踪软件.该软件采用多线程处理技术,在实时检测电子胶囊内磁标记物的空间磁场信息基础上,利用非线性最优化算法求解出电子胶囊位置和姿态信息,最后将定位结果以二维和三维的形式实时显示并存档.实验结果表明:该程序在基于磁通传感器阵列的硬件平台下,能够稳定的实现磁传感器阵列的数据采集,对非线性最优化磁定位算法进行实时处理,以及空间定位结果的二维、三维显示和数据保存三项任务的流水线并行处理和数据回放等功能,每次传感器阵列数据采集时间小于2 s,定位算法时间小于600 ms.该软件可实时处理定位信息的采集、处理运算及结果显示,能满足消化道内微型装置实时跟踪定位的需要.

Software Design of Magnetic Localization System for Micro Diagnosis and Treatment Devices in Human Gastrointestinal Tract

In order to locate and track the micro diagnosis and treatment devices in human gastrointestinal tract(GI tract) in real time, a software was designed using VC++.Net and Visualization Toolkit (VTK).Using multithread technology, the software controlled the measurement of the magnetic field produced by the magnetic marker in the electronic capsule, and calculated the position and orientation of the capsule based on a nonlinear algorithm.The localization results could be displayed in two dimensional and three dimensional forms and saved in real time.The experimental results showed that this software could realize the data acquisition of the magnetic sensor array, real time nonlinear localization algorithm, pipeline parallel processing of two and three dimensional results display and saving, and data playback.The data acquisition time of one point was less than 2 s, and the calculation time was less than 600 ms.It was showed that the system fulfilled the requirement of the real time localization and tracking for the micro diagnosis and treatment devices in human GI tract.