改善磁導航系統定位技術之方法

Abstract

磁控膠囊內視鏡相較於傳統內視鏡擁有許多優點，例如: 舒適性、低壓迫性、受試者無須麻醉並能透過磁控膠囊內視鏡上的鏡頭來觀察腸道內部的情況。本實驗室致力於研究大腸磁控膠囊內視鏡已有數年的時間，在磁控牽引平台、磁控膠囊內視鏡定位及透過人工智慧來辨識腸道內部的病變等技術都有不錯的成果。 磁控膠囊內視鏡平台所使用的定位技術是需要依靠機械手臂的運動來緩慢地追蹤目標，因此還無法達到立即精準定位的效果。當外部永久磁鐵移動時，膠囊內視鏡也可能會有一些不可預測性的位移，這會導致操作人員無法得知內視鏡在腸道中的實際位置。因此，本研究提出了改善舊有的定位方法，來達到立即精準定位的目標。另外也在膠囊內視鏡中加入慣性量測單元元件，透過此元件我們可以得知磁控膠囊內視鏡於腸道內部的擺姿，進而優化我們的定位系統。

Magnetron Capsule Endoscopy has many advantages over traditional endoscopy, such as comfort, and low compression, subjects do not need anesthesia and can observe the inside of the intestine through the lens of the Magnetron Capsule Endoscope. Our laboratory has been devoted to the research of large intestine magnetic control capsule endoscopy for several years and has achieved good results in technologies such as magnetic control traction platform, magnetic control capsule endoscopy positioning, and identification of intestinal lesions through artificial intelligence. The positioning technology used by the magnetron capsule endoscope platform needs to rely on the movement of the robotic arm to track the target slowly, so it cannot achieve the effect of immediate and precise positioning. There may also be some unpredictable displacement of the capsule endoscope when the external permanent magnet is moved, which prevents the operator from knowing the actual position of the endoscope in the bowel. Therefore, this study proposes to improve the old localization method to achieve the goal of immediate and accurate localization. In addition, an inertial measurement unit element is added to the capsule endoscope. Through this element, we can know the posture of the magnetron capsule endoscope inside the intestine and then optimize our positioning system.